Tool changing device

Abstract

The tool changing device of the present invention allows for easy loading and unloading of a main board and a tool plate without the need for fluid supply. The tool changing device includes: a main board mounted on a robotic arm; and a tool plate detachably mounted on the main board and on which a tool is mounted. In the tool changing device, one of the main board and the tool plate has an insertion recess on one of its surfaces, and the other of the main board and the tool plate has a cylindrical portion that can be detached from the other and inserted into the insertion recess in a connected state. The tool changing device also includes a spring member that maintains the connected state of one of the main board and the tool plate and the other of the main board and the tool plate. The cylindrical portion has a slit on its side that is recessed further toward the central axis than the side of the top of the cylindrical portion and is engaged by the spring member in the connected state. The spring member applies force to the cylindrical portion toward its central axis in the connected state.

Description

Technical Field

[0001] This invention relates to a tool changing device. Background Technology

[0002] Robotic arms used in industrial equipment such as factories are equipped with various tools (end effectors) such as welding instruments at their front ends to perform production operations. As a means to facilitate the replacement of these tools, tool changing devices are known. These tool changing devices include a main board mounted at the front end of the robotic arm and a combination of multiple tool plates, each equipped with various tools. The main board and tool plates are detachable, allowing the robot to be replaced with various tools through this detachment.

[0003] As a tool changing device, there is a known device that uses the movement of multiple balls to perform the loading and unloading (e.g., refer to International Publication No. 2017 / 212790). This tool changing device includes a piston member, an upper cylinder chamber, and a lower cylinder chamber disposed vertically above and below the piston member. The tool changing device moves the piston member by supplying or discharging fluid (air) to the upper and lower cylinder chambers. By controlling the movement of the piston member to advance and retreat the multiple balls, the loading and unloading of the main plate and the tool plate can be performed.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2017 / 212790 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In the existing tool changing device, air must be supplied to move the piston assembly, which is only applicable to robotic arms capable of receiving air supply. Furthermore, to supply air, the robotic arm's air piping needs to be routed externally.

[0009] The present invention was made in view of this situation, and its object is to provide a tool replacement device that allows for easy installation and removal of the mainboard and tool board without the need for fluid supply.

[0010] Technical means to solve the problem

[0011] A tool changing device according to one embodiment of the present invention includes: a main board mounted on a robotic arm; and a tool plate detachably mounted on the main board and on which a tool is mounted. In the tool changing device, one of the main board and the tool plate has an insertion recess on one of its surfaces, and the other of the main board and the tool plate has a columnar portion that can be detached from the one of the main board and the tool plate and inserted into the insertion recess in a connected state. The tool changing device further includes a spring member for maintaining the connected state of the one of the main board and the tool plate and the other of the main board and the tool plate. The columnar portion has a slit on its side that is recessed further toward the central axis than the side of the top of the columnar portion and is engaged by the spring member in the connected state. The spring member applies force to the columnar portion toward its central axis in the connected state.

[0012] The effects of the invention

[0013] The tool changing device of the present invention allows for easy installation and removal of the main board and tool board even without fluid supply. Attached Figure Description

[0014] Figure 1 This is a schematic perspective view of a tool changing device according to an embodiment of the present invention.

[0015] Figure 2 yes Figure 1 A schematic side view of the tool changing device.

[0016] Figure 3 It means in Figure 1 A schematic side view of a tool changing device in which the main board and tool board are detached.

[0017] Figure 4 It means Figure 1 A schematic perspective view of the motherboard of the tool replacement device.

[0018] Figure 5 yes Figure 4 A schematic bottom view of the motherboard.

[0019] Figure 6 yes Figure 4 A schematic plan view of the lower main body.

[0020] Figure 7 It means Figure 1 A schematic perspective view of the tool plate of the tool changing device.

[0021] Figure 8 yes Figure 7 A schematic side view of the toolboard.

[0022] Figure 9It means used for Figure 1 A schematic perspective view of the spring component of the tool changing device.

[0023] Figure 10 It means in Figure 6 A schematic perspective view of the lower main body with spring components installed.

[0024] Figure 11 It is used for Figure 1 A schematic perspective view illustrating the engagement state of the spring component and the cut in the connected state of the tool changing device.

[0025] Figure 12 Is with Figure 1 A schematic perspective view of a tool changing device according to another different embodiment.

[0026] Figure 13 It means Figure 12 A schematic bottom view of the motherboard of the tool replacement device.

[0027] Figure 14 It means Figure 12 A schematic perspective view of the tool plate of the tool changing device.

[0028] Figure 15 yes Figure 12 A schematic cross-sectional view of the tool changing device at the XV-XV line.

[0029] Figure 16 Is with Figure 1 and Figure 12 A schematic perspective view of a tool changing device according to another different embodiment.

[0030] Figure 17 yes Figure 16 A schematic side view of the tool changing device.

[0031] Figure 18 It means Figure 16 A schematic side view of the motherboard of the tool replacement device.

[0032] [Explanation of reference numerals in the attached figures]

[0033] 1, 2, 3: Tool changing device

[0034] 10: Motherboard

[0035] 10a: Lower body

[0036] 10b: Upper Main Body

[0037] 11: Insert into the recess

[0038] 11a: Insertion port

[0039] 12: convex part

[0040] 13: Anti-rotation component

[0041] 14: Slot

[0042] 15: Window

[0043] 16: Bolt hole

[0044] 20: Toolboard

[0045] 20a: Tool body

[0046] 21: Columnar part

[0047] 21a: Top

[0048] 21b: Conical part

[0049] 22: Incision

[0050] 22a: First sidewall

[0051] 22b: Second sidewall

[0052] 22c: Bottom wall

[0053] 23: Connecting hole

[0054] 30: Spring component

[0055] 31: First arc portion

[0056] 32: Planar part

[0057] 33: Second arc section

[0058] 33a: Winding section

[0059] 34: First connecting part

[0060] 35: Second connecting part

[0061] 36: Concave

[0062] 40: Motherboard

[0063] 41: Connector for main-side communication

[0064] 42: Main side connection terminal

[0065] 50: Toolboard

[0066] 51: Connector for tool-side communication

[0067] 52: Tool-side connection terminal

[0068] 60: Motherboard

[0069] 61: Safety pin

[0070] 62: Wiring harness

[0071] 62a: Connector

[0072] 70: Toolboard

[0073] 80: Vent Module

[0074] 81: Main vent

[0075] 81a: concave part

[0076] 81b: Connecting convex part

[0077] 82: Tool vent

[0078] 82a: concave part

[0079] 90: Placement stand

[0080] 91: Support section

[0081] 91a: U-groove

[0082] 92: Wall

[0083] 92a: Incision Detailed Implementation

[0084] [Description of Embodiments of the Invention]

[0085] Initially, embodiments of the present invention will be described.

[0086] A tool changing device according to one embodiment of the present invention includes: a main board mounted on a robotic arm; and a tool plate detachably mounted on the main board and on which a tool is mounted. In the tool changing device, one of the main board and the tool plate has an insertion recess on one of its surfaces, and the other of the main board and the tool plate has a columnar portion that can be detached from the one of the main board and the tool plate and inserted into the insertion recess in a connected state. The tool changing device further includes a spring member for maintaining the connected state of the one of the main board and the tool plate and the other of the main board and the tool plate. The columnar portion has a slit on its side that is recessed further toward the central axis than the side of the top of the columnar portion and is engaged by the spring member in the connected state. The spring member applies force to the columnar portion toward its central axis in the connected state.

[0087] In the tool changing device, one of the main board and the tool plate has an insertion recess on one side, and the other has a columnar portion that inserts into the insertion recess. Furthermore, in the tool changing device, the columnar portion has a slit on its side. When the main board and the tool plate are connected, a spring member engages with the slit, applying force to the columnar portion towards its central axis. Therefore, in the tool changing device, when connected, the spring member inhibits the vertical movement of the columnar portion, thus maintaining the connection between the main board and the tool plate. On the other hand, in the tool changing device, by extending the spring member outwards towards the columnar portion, the engagement with the slit can be eliminated, easily separating the main board and the tool plate. Therefore, the tool changing device allows for easy loading and unloading of the main board and the tool plate without the need for fluid supply.

[0088] The columnar portion may have a pair of slits facing each other across its central axis. Each slit has a pair of sidewalls extending from the side of the columnar portion along the central axis, and a bottom wall connecting the central axis-side end edges of the pair of sidewalls. The spacing between the pair of sidewalls narrows towards the bottom wall. By providing a pair of slits as described above, the engagement of the spring member can be stably maintained while absorbing tolerances in parts such as the spring member.

[0089] The spring member can be a leaf spring having a planar portion parallel to the central axis of the columnar portion, the width of which is greater than the spacing between the pair of sidewalls on the bottom wall. By using the leaf spring as the spring member as described above, the pair of sidewalls support both ends of the planar portion, thereby fixing the spring member and thus more stably suppressing the vertical movement of the columnar portion.

[0090] The motherboard and the tool board may have a window that exposes a portion of the spring member in the connected state. By pressing a portion of the spring member from the outside of the window inward, the engagement between the spring member and the cutout is released. By providing a structure as described above, in which one of the motherboard and the tool board has a window that exposes a portion of the spring member in the connected state, and the engagement between the spring member and the cutout is released by pressing a portion of the spring member from the outside of the window inward, the motherboard and the tool board can be separated more easily.

[0091] The columnar portion may have a tapered portion at its top that expands downwards. By providing a tapered portion that expands downwards at the top of the columnar portion as described above, when the columnar portion is inserted into the insertion recess, the spring member expands along the tapered portion, thus easily engaging the spring member with the notch. On the other hand, once the spring member is engaged with the notch, due to the downward expansion of the tapered portion, the spring member is not easily pulled upwards, and the vertical movement of the columnar portion is stably suppressed.

[0092] The motherboard and the toolboard each have a communication connector inside them that is electrically connected to each other when connected. By providing communication connectors that are electrically connected to each other when connected, as described above, communication between the motherboard and the toolboard can be easily ensured.

[0093] Furthermore, in this invention, "above" refers to the direction towards the top of the columnar portion, and "below" refers to the opposite direction, but the orientation of the tool changing device is not limited. That is, the tool changing device can also be used upside down.

[0094] [Details of embodiments of the present invention]

[0095] The tool changing apparatus of various embodiments of the present invention will be described with reference to the accompanying drawings.

[0096] [First Implementation Method]

[0097] Figures 1 to 3 The tool changing device 1 shown is a tool changing device including a main board 10 and a tool plate 20 installed on the robotic arm. The tool plate 20 is detachably mounted on the main board 10 and is equipped with tools. Figure 1 and Figure 2 This indicates the installation status of the tool board 20 on the main board 10. Figure 3 This indicates the disassembly state after the motherboard 10 and tool board 20 are separated.

[0098] In the tool changing device 1, one of the main board 10 and the tool board 20 (main board 10) has an insertion recess 11 on one side, and the other board (tool board 20) has a columnar portion 21 that can be attached to and detached relative to the first board and inserted into the insertion recess 11 in the connected state. Additionally, the tool changing device 1 includes a spring member 30 that maintains the connection between the first board and the other board, i.e., the main board 10 and the tool board 20.

[0099] There are no particular limitations on the size or weight of the motherboard 10 and the tool board 20. For example, they can be set to a maximum width of 200mm or less and a weight of 3kg or less. By setting the size or weight of the motherboard 10 and the tool board 20 to be below the aforementioned upper limit, it is easier to install and remove the motherboard 10 and the tool board 20.

[0100] <Motherboard>

[0101] like Figure 4 As shown, the motherboard 10 is disc-shaped, having a lower body 10a and an upper body 10b covering the upper part of the lower body 10a. The lower body 10a and the upper body 10b are joined together, for example, by means of screws.

[0102] like Figure 5 As shown, the insertion opening 11a of the insertion recess 11 into which the columnar portion 21 is inserted is circular with the same shape and diameter as the bottom surface of the columnar portion 21. By setting the insertion opening 11a to have the same shape and diameter as the bottom surface of the columnar portion 21 as described above, relative movement of the columnar portion 21 relative to the main board 10 in the connected state can be suppressed, thus stably connecting the main board 10 and the tool board 20.

[0103] like Figure 4 As shown, the motherboard 10 may have a protrusion 12 on another side, namely the top surface of the upper body 10b. The protrusion 12 has an internal space that forms the bottom of the insertion recess 11. The space is formed to fit the top 21a of the columnar portion 21, thus fixing the top 21a of the columnar portion 21 in the connected state. This further stabilizes the connection between the motherboard 10 and the tool plate 20.

[0104] The main board 10 has a columnar anti-rotation member 13, which penetrates one of its surfaces, namely the bottom surface of the lower main body 10a, and protrudes downward and inward into the lower main body 10a. In the connected state, the anti-rotation member 13 is inserted into a connecting hole 23 provided on the top surface of the tool plate 20 (described later), preventing relative rotation between the main board 10 and the tool plate 20. Furthermore, the anti-rotation member 13 also functions as a member to prevent rotation of the spring member 30. In addition, in... Figure 4 and Figure 5 In the middle, the anti-rotation element 13 is cylindrical, but the shape of the anti-rotation element 13 is not limited to cylindrical.

[0105] The motherboard 10 can house the spring member 30 internally. Specifically, as... Figure 6 As shown, a groove 14 for accommodating the spring member 30 is formed in the lower body 10a.

[0106] In addition, such as Figure 4 As shown, the motherboard 10 has a window 15 that exposes a portion of the spring member 30 when in the connected state.

[0107] <Toolboard>

[0108] like Figure 7 As shown, the tool plate 20 has a disc-shaped tool body 20a and a columnar portion 21 protruding from one side of the tool body 20a. As described above, the columnar portion 21 is inserted into the insertion recess 11 of the main plate 10 in the connected state. Figure 7 In the tool plate 20 shown, the columnar portion 21 is cylindrical. Hereinafter, the example of the columnar portion 21 being cylindrical will be used for explanation, but the columnar portion 21 is not limited to being cylindrical.

[0109] When the motherboard 10 is mounted to the robotic arm by a plurality of bolts arranged in a circumferential pattern, the columnar portion 21 is preferably located inside the circumference defined by the plurality of bolts. That is, the columnar portion 21 is preferably larger in diameter than the plurality of bolt holes 16 arranged in a circumferential pattern on the motherboard 10 (see reference). Figure 4 The circumference of the tool changing device 1 is small, and it is located on the inner side of the circumference. If the columnar part 21 is located on the outer side of the circumference, the diameter of the tool changing device 1 (the diameter of the upper body 10b and the tool body 20a) becomes larger than the diameter of the mounting part to the robotic arm, and the processing capacity may decrease.

[0110] Furthermore, the columnar portion 21 is more preferably located at the center of the tool plate 20. That is, the central axis of the columnar portion 21 is preferably aligned with the central axis of the tool plate 20. In this case, the central axis of the insertion recess 11 provided on the main board 10, into which the columnar portion 21 can be inserted, is also aligned with the central axis of the main board 10.

[0111] The columnar portion 21 has a pair of slits 22 facing each other on its side across its central axis. The slits 22 are recessed further toward the central axis than the side of the top 21a of the columnar portion 21 and are engaged by the spring member 30 in the connected state.

[0112] The cut 22 has a pair of sidewalls (first sidewall 22a and second sidewall 22b) extending from the side of the columnar portion 21 along the central axis, and a bottom wall 22c connecting the end edges of the pair of sidewalls on the central axis side. In the tool changing device 1, the first sidewall 22a located on the top 21a side of the columnar portion 21 includes a plane parallel to the top surface of the columnar portion 21, and the second sidewall 22b located on the bottom side of the columnar portion 21 is inclined in a manner that the central axis side approaches the top 21a side of the columnar portion 21. That is, the spacing between the pair of sidewalls narrows towards the bottom wall 22c. In addition, the bottom wall 22c includes a plane perpendicular to the top surface.

[0113] By providing a pair of slits 22 as described above, the engagement of the spring member 30 can be stably maintained while absorbing tolerances in parts such as the spring member 30. Specifically, the wide spacing between the pair of sidewalls at the entrance of the slits 22 facilitates engagement of the spring member 30 with the slits 22 even if there are part tolerances or positional misalignments in the spring member 30. The spring member 30 applies force towards the central axis as described later, thus guiding the engaged spring member 30 towards the bottom wall 22c by the pair of sidewalls, thereby narrowing the spacing between the pair of sidewalls. Therefore, the spring member 30 can soon be clamped and secured using the pair of sidewalls.

[0114] The inclination angle of the second sidewall 22b is preferably 0.1 degrees or more and 10 degrees or less. If the inclination angle is less than the lower limit, the effect of guiding the spring member 30 to the bottom wall 22c may be insufficient. In particular, when the inclination angle is less than 0 degrees, a gap is generated between the pair of sidewalls and the spring member 30, and the connection between the main board 10 and the tool plate 20 becomes insufficient, which may cause vertical movement. Conversely, if the inclination angle exceeds the upper limit, the columnar portion 21 may easily move vertically or the main board 10 and the tool plate 20 may separate due to the spring member 30 shifting outward from the central axis, etc., in the event of vibration of the tool changing device 1. Furthermore, in the tool changing device 1, the case where the second sidewall 22b located on the bottom side of the columnar portion 21 is inclined has been described. However, instead of the second sidewall 22b, the first sidewall 22a located on the top 21a side of the columnar portion 21 is inclined in such a way that the central axis side is close to the bottom side of the columnar portion 21, or both the first sidewall 22a and the second sidewall 22b can have the inclination.

[0115] The lower limit of the depth of the cut 22 (the distance from the side of the columnar portion 21 to the bottom wall 22c) is preferably 1.5 cm, more preferably 3.5 cm. On the other hand, the upper limit of the depth of the cut 22 is preferably 7 cm, more preferably 5 cm. If the depth of the cut 22 is less than the lower limit, it may be impossible to stably engage the spring member 30. Conversely, if the depth of the cut 22 exceeds the upper limit, the spring member 30 needs to be significantly expanded in order to engage it. A large force is required to significantly expand the spring member 30, so it may be difficult to engage the spring member 30 with the cut 22.

[0116] The width of the cut 22 (the width of the bottom wall 22c relative to the central axis of the columnar portion 21) is set to be the same width as or slightly narrower than the width of the spring member 30. By setting the width of the cut 22 as described above, the vertical movement of the columnar portion 21, and consequently the tool plate 20, can be suppressed.

[0117] The top 21a of the columnar portion 21 may have a tapered portion 21b that expands downward from the top. By providing a tapered portion 21b that expands downward from the top as described above on the top 21a of the columnar portion 21, when the columnar portion 21 is inserted into the insertion recess 11 of the main board 10, the spring member 30 can expand along the tapered portion 21b, thus easily engaging the spring member 30 with the notch 22. On the other hand, once the spring member 30 is engaged with the notch 22, due to the downward expansion of the tapered portion 21b, the spring member 30 is difficult to pull out upward, and the vertical movement of the columnar portion 21 can be stably suppressed.

[0118] The tool plate 20 has a mating hole 23 on its top surface. The mating hole 23 engages with the anti-rotation member 13 of the main board 10 in the mating state.

[0119] <Spring Components>

[0120] like Figure 9 As shown, the spring member 30 is a leaf spring. The spring member 30 has: a first arcuate portion 31 that generates force in the direction of the central axis; a pair of flat portions 32 that abut against the bottom wall 22c of the cutout 22 and exert force; a pair of second arcuate portions 33 located on the opposite side of the first arcuate portion 31, separated by the pair of flat portions 32, with one end facing each other and approaching each other; a pair of first connecting portions 34 that connect the two ends of the first arcuate portion 31 and one end of the pair of flat portions 32 respectively; and a pair of second connecting portions 35 that connect the other ends of the pair of flat portions 32 and the other ends of the pair of second arcuate portions 33 respectively.

[0121] The first arc portion 31 and the second arc portion 33 have the same radius of curvature. A pair of flat portions 32 are arranged facing each other, and the distance between them is narrower than the diameter (twice the radius of curvature) of the first arc portion 31. Furthermore, the first connecting portion 34 and the second connecting portion 35 include flat plates. That is, Figure 9 The spring member 30 shown is generally a circular shape with a pair of flat portions 32 that taper inward.

[0122] The spring member 30 has a recess 36 at the center of the first arc portion 31 that engages with the anti-rotation member 13 provided on the lower body 10a. Additionally, a pair of second arc portions 33 have a winding portion 33a that is wound around the outer side of the arc at one end that faces each other and is close to it. Furthermore, the winding portion 33a and the recess 36 are positioned opposite each other across the central axis of the spring member 30.

[0123] exist Figure 10 The image shows the spring member 30 housed within the lower main body 10a. The spring member 30 is positioned such that a first arcuate portion 31 and a second arcuate portion 33 protrude from the window 15 of the main body 10. In particular, the winding portion 33a of the second arcuate portion 33 protrudes further outward than the side of the main body 10 (see reference). Figure 5 ).

[0124] The first connecting portion 34 and the second connecting portion 35 are arranged along the groove 14 of the lower body 10a, and the recess 36 of the spring member 30 is arranged to surround the anti-rotation member 13 protruding into the lower body 10a. With these arrangements, rotation of the spring member 30 within the lower body 10a can be suppressed.

[0125] A pair of flat portions 32 are located further inward than the side of the insertion recess 11 (see reference). Figure 5 In addition, a pair of flat portions 32 face each other across the central axis of the insertion recess 11.

[0126] The width of the pair of planar portions 32 is greater than the spacing between the pair of sidewalls on the bottom wall 22c of the cut 22 of the tool plate 20, and smaller than the spacing between the pair of sidewalls at the entrance of the cut 22. If the width of the planar portions 32 is taken as described above, the pair of sidewalls support both ends of the planar portions 32, thereby fixing the spring member 30 and thus further stably suppressing the up-and-down movement of the columnar portion 21.

[0127] exist Figure 11 The diagram shows the state in which the motherboard 10 is connected to the toolboard 20. Furthermore, in... Figure 11 In order to illustrate the state of the spring member 30, the upper main body 10b is not shown. Figure 11 As shown, in the tool changing device 1, the spring member 30 engages with the cutout 22 in the connected state. Thus, the spring member 30 applies force to the columnar portion 21 towards its central axis in the connected state. Specifically, the spring member 30 is fixed in a position where the width of the planar portion 32 is equal to the distance between the pair of sidewalls constituting the cutout 22, with both sides of the planar portion 32 clamped by the pair of sidewalls.

[0128] <The loading and unloading actions of the tool changing device>

[0129] The operation of connecting the main board 10 and the tool board 20 in the tool changing device 1 and the operation of separating them will be described.

[0130] (Linked actions)

[0131] In the tool changing device 1, the main board 10 and the tool board 20 can be connected by performing an alignment process and an insertion process in sequence.

[0132] First, in the alignment process, the main board 10 and the tool board 20 are aligned so that the columnar portion 21 of the tool board 20 is inserted into the insertion recess 11 of the main board 10, and the anti-rotation member 13 protruding downward of the main board 10 is inserted into the mating hole 23 of the tool board 20.

[0133] Next, in the insertion process, the columnar portion 21 is pressed into the insertion recess 11 until the bottom surface of the main plate 10 contacts the top surface of the tool plate 20. At this time, a tapered portion 21b is provided at the top 21a of the columnar portion 21, so the pair of flat portions 32 of the spring member 30, located further inward than the side of the insertion recess 11, expand outward toward the central axis following the downward expansion of the tapered portion 21b. Furthermore, when the columnar portion 21 is pressed into the insertion recess 11, the pair of flat portions 32 reach the cutout 22 of the columnar portion 21. The pair of flat portions 32 expand outward toward the central axis, so the force applied in the direction of the central axis takes effect, and by said force, the pair of flat portions 32 engage with the cutout 22.

[0134] Furthermore, the pair of planar portions 32 are fixed in a position where the width of the planar portion 32 of the spring member 30 is equal to the spacing between the pair of sidewalls constituting the cut 22, with the two side edges of the planar portion 32 being clamped by the pair of sidewalls. The spring member 30 applies force to the columnar portion 21 in the direction of the central axis. In addition, the first sidewall 22a of the cut 22 located on the top 21a side of the columnar portion 21 includes a plane parallel to the top surface of the columnar portion 21. Therefore, when the tool plate 20 is to be pulled out from the main board 10, the planar portion 32 of the spring member 30 abuts against the first sidewall 22a on the top 21a side, thus preventing the tool plate 20 from being pulled out. That is, the tool plate 20 is connected to and fixed to the main board 10.

[0135] (Separation action)

[0136] In the tool changing device 1, the main board 10 and the tool board 20 can be separated by sequentially performing a spring component pressing process and a removal process.

[0137] In the spring member pressing process, the engagement of the spring member 30 with the cutout 22 is released by pressing the winding portion 33a, which is part of the spring member 30, from the outside to the inside of the window portion 15. In detail, when the winding portion 33a of the spring member 30 is pressed from the outside to the inside of the window portion 15, the force on the pair of planar portions 32 in the direction outward from the central axis and the distance between them increase. Furthermore, when the distance between the pair of planar portions 32 is greater than the maximum diameter of the top 21a of the columnar portion 21, the engagement of the spring member 30 with the cutout 22 is released.

[0138] When the winding portion 33a is pressed from the outside to the inside of the window portion 15, the winding portion 33a exerts a force that pushes the entire spring member 30 out from the side of the main board 10 on the opposite side. However, there is a recess 36 at a position opposite the winding portion 33a across the central axis of the spring member 30. This recess 36 is configured to surround the anti-rotation member 13. Therefore, by engaging the recess 36 with the anti-rotation member 13, the entire spring member 30 can be prevented from being pushed out from the side of the main board 10. That is, the pressing force acts entirely as a force to push the pair of flat portions 32 outward from the central axis.

[0139] In the tool changing device 1, by setting up a structure as described above to press a part of the spring member 30 from the outside of the window 15 in the inward direction, thereby releasing the spring member 30 from the cutout 22, the main board 10 and the tool board 20 can be separated more easily.

[0140] Next, in the removal process, the tool plate 20 is removed from the main board 10. This removal process is performed while the spring member 30 is released from engagement with the cutout 22 by pressing the winding portion 33a during the spring member pressing process. With the spring member 30 released from engagement with the cutout 22, the tool plate 20 can be easily separated from the main board 10.

[0141] <Advantages>

[0142] In the tool changing device 1, the main board 10 has an insertion recess 11 on one side, and the tool plate 20 has a cylindrical portion 21 that inserts into the insertion recess 11. Furthermore, in the tool changing device 1, the cylindrical portion 21 has a slit 22 on its side. When the main board 10 and the tool plate 20 are connected, the spring member 30 engages with the slit 22, applying force to the cylindrical portion 21 towards its central axis. Therefore, in the tool changing device 1, in the connected state, the spring member 30 inhibits the vertical movement of the cylindrical portion 21, thus maintaining the connection between the main board 10 and the tool plate 20. On the other hand, in the tool changing device 1, by extending the spring member 30 outwards towards the cylindrical portion 21, the engagement with the slit 22 can be eliminated, easily separating the main board 10 and the tool plate 20. Therefore, the tool changing device 1 allows for easy installation and removal of the main board 10 and the tool plate 20 without the need for fluid supply.

[0143] [Second Implementation]

[0144] Figures 12 to 15The tool changing device 2 shown includes a main board 40 and a tool plate 50 mounted on a robotic arm. The tool plate 50 is detachably mounted on the main board 40 and has tools mounted on it. The main board 40, which is one of the main boards, has an insertion recess 11 on one side. The tool plate 50, which is the other board, has a columnar portion 21 that can be detached from the main board 40 and inserted into the insertion recess 11 in the connected state. The tool changing device also includes a spring member 30 that maintains the connection between the main board 40 and the tool plate 50. The columnar portion 21 has a slit 22 on its side that is recessed further toward the central axis than the side of the top 21a of the columnar portion 21 and is engaged by the spring member 30 in the connected state. The spring member 30 applies force to the columnar portion 21 toward its central axis in the connected state. In addition, in the tool changing device 2, the main board 40 and the tool board 50 each have communication connectors (main-side communication connector 41 and tool-side communication connector 51) that are electrically connected to each other in the connected state.

[0145] The tool changing device 2, except for having the communication connector, can be configured in the same way as the first embodiment, therefore the same reference numerals are used and detailed descriptions are omitted. The communication connector will be described below.

[0146] <Connectors for Communication>

[0147] like Figure 14 As shown, the tool-side communication connector 51 is disposed in a recess on the top surface of the columnar portion 21. The recess preferably has a tapered portion at its entrance that expands towards the top surface. By providing the tapered portion in the recess as described above, the main-side communication connector 41 can be easily guided into the recess when the main board 40 and the tool board 50 are connected. The central axis of the columnar portion 21 and the central axis of the tool-side communication connector 51 are preferably aligned.

[0148] like Figure 13 As shown, the main-side communication connector 41 is disposed within the insertion recess 11. As described above, when the main board 40 and the tool board 50 are connected, the main-side communication connector 41 and the tool-side communication connector 51 are electrically connected to each other. In other words, as... Figure 15 As shown, the main-side communication connector 41 includes multiple male terminals, and the tool-side communication connector 51 includes multiple female terminals. In the connected state, they are aligned by inserting the corresponding male terminals into the corresponding female terminals.

[0149] Additionally, the motherboard 40 has a main-side connection terminal 42 for extracting signals from the main-side communication connector 41. The location of the main-side connection terminal 42 is not particularly limited; for example, it can be positioned on the side of the motherboard 40. Similarly, the tool board 50 has a tool-side connection terminal 52 for extracting signals from the tool-side communication connector 51. The location of the tool-side connection terminal 52 is not particularly limited; for example, it can be positioned on the side of the tool board 50.

[0150] In the tool changing device 2, the wiring connecting the main-side communication connector 41 to the main-side connection terminal 42 and the wiring connecting the tool-side communication connector 51 to the tool-side connection terminal 52 are respectively housed inside the main board 40 and the tool board 50, and do not pass through the outside. Therefore, the wiring can be prevented from becoming an obstacle to the operation of the tool.

[0151] <Advantages>

[0152] In the tool changing device 2, by providing a main-side communication connector 41 and a tool-side communication connector 51 that are electrically connected to each other in the connected state inside the main board 40 and the tool board 50 as described above, the communication connection between the main board 40 and the tool board 50 can be easily ensured.

[0153] [Third Implementation Method]

[0154] Figures 16 to 18 The tool changing device 3 shown includes a main board 60 and a tool plate 70 mounted on a robotic arm. The tool plate 70 is detachably mounted on the main board 60 and has tools mounted on it. The main board 60, as one of the plates, has an insertion recess on one side. The tool plate 70, as the other plate, has a columnar portion that can be detached from the main board 60 and inserted into the insertion recess in the connected state. The tool changing device also includes a spring member 30 that maintains the connection between the main board 60 and the tool plate 70. The columnar portion has a slit on its side that is recessed further towards the central axis than the side of the top of the columnar portion and is engaged by the spring member 30 in the connected state. The spring member 30 applies force to the columnar portion towards its central axis in the connected state. In addition, the tool changing device 3 also includes a vent module 80 for air circulation between the main board 60 and the tool plate 70, and a placement platform 90 for storing the main board 60 and the tool plate 70.

[0155] <Motherboard>

[0156] The motherboard 60 has three safety pins 61 and a wiring harness 62 extending from the main side connection terminal 42. The other structures of the motherboard 60 are the same as those in the first or second embodiment, therefore the same reference numerals are used and detailed descriptions are omitted.

[0157] (Safety pin)

[0158] The safety pin 61 is arranged to surround the winding portion 33a of the spring member 30. Specifically, two safety pins 61 are arranged horizontally spaced apart on the upper body 10b of the winding portion 33a, and another safety pin 61 is arranged on the lower body 10a directly below the winding portion 33a, protruding outward from either the upper body 10b or the lower body 10a.

[0159] The three safety pins 61 serve, for example, the following functions: when the winding part 33a abuts against the wall near the winding part 33a, the winding part 33a is pushed towards the center of the main board 60, the spring member 30 opens, and the main board 60 is prevented from accidentally separating from the tool plate 70.

[0160] Therefore, the protruding length of the three safety pins 61 is determined to a degree to which the main board 60 and the tool board 70 will not separate even if the winding portion 33a is pressed in. In the main board 60 of the tool changing device 3, as... Figure 18 As shown, the protruding length of the three safety pins 61 is set to be equal to or slightly shorter than the protruding length of the winding portion 33a. If the protruding length of the safety pins 61 is shorter than that, the aforementioned accident may occur. Conversely, if the protruding length of the safety pins 61 is longer than that, it may be difficult to intentionally separate the main board 60 from the tool board 70.

[0161] Furthermore, the number or configuration of safety pins 61 is not limited to the structure described above, and can be appropriately set as long as the purpose is achieved.

[0162] (Wire harness)

[0163] As described above, one end of the wire harness 62 is connected to the main side connection terminal 42, and the other end is connected to a connector 62a. The main side connection terminal 42 and the connector 62a are electrically connected internally through signal wiring.

[0164] The length of the wire harness 62 is set to a suitable length that allows the connector 62a to be connected to the electrical connection destination when the tool changing device 3 is mounted on the robotic arm. Furthermore, the wire harness 62 is flexible, allowing for easy connection of the connector 62a.

[0165] In the tool changing device 3, the case where only the main board 60 has a wire harness 62 has been described. However, the wire harness 62 may also be provided in a way that extends from the tool-side connection terminal 52, or it may be configured to extend from both the main-side connection terminal 42 and the tool-side connection terminal 52.

[0166] <Toolboard>

[0167] The structure of the tool plate 70 is the same as that of the first embodiment or the second embodiment, so the same symbols are used and detailed descriptions are omitted.

[0168] <Spring Components>

[0169] The structure of the spring member 30 is the same as that of the first embodiment, so the same symbols are used and detailed descriptions are omitted.

[0170] <Ventilation Port Module>

[0171] The vent module 80 has a main vent 81 located on the main board 60 and a tool vent 82 located on the tool board 70.

[0172] like Figure 18 As shown, the main vent 81 has a recess 81a for connecting an external air pipe and a connecting protrusion 81b for connecting to a tool vent 82, and a pipe (not shown) is provided between the recess 81a and the connecting protrusion 81b to allow air to flow.

[0173] Similarly, the tool vent 82 has a recess 82a for connecting an external air pipe and a connecting recess (not shown) for connecting to the main vent 81, and a pipe (not shown) is provided between the recess 82a and the connecting recess to allow air to flow.

[0174] The vent module 80 is configured as a piping that allows air to flow between the recess 81a of the main vent 81 and the recess 82a of the tool vent 82 when the main board 60 and the tool board 70 are connected.

[0175] The tool changing device 3 itself does not require air in the connection between the main board 60 and the tool board 70, but by having a vent module 80 as described above, it is possible to easily supply air to devices that require air supply via the tool changing device 3, or devices that are replaced by the tool changing device 3.

[0176] <Placement stand>

[0177] The placement platform 90 has a support portion 91 and a wall portion 92 erected from the support portion 91.

[0178] The support portion 91 is flat and has a U-shaped groove 91a for inserting and supporting the tool plate 70. The support portion 91 may also have a clamping mechanism for fixing the tool plate 70. By providing a clamping mechanism in the support portion 91 as described above, the tool plate 70 can be stably supported.

[0179] As the clamping mechanism, for example, an electromagnetic support or a linear solenoid can be mounted on the support 91. When the tool plate 70 is fixed to the support 91, it is fixed by adsorption using the electromagnetic support or by position using the linear solenoid, and its release is controlled when changing tools.

[0180] Alternatively, clamps utilizing springs or the like can be used. In this case, for example, the clamp is positioned facing the surface of the support 91. The clamp is configured to hold the tool plate 70 between itself and the support 91 by inserting it from a specific direction. Then, the tool can be changed by pulling it out in the opposite direction. In this case, no fixing / unlocking control operation is required.

[0181] The wall portion 92 is vertically erected from the support portion 91 and is flat. The main board 60 can be pushed onto the wall portion 92.

[0182] The wall portion 92 has a notch 92a for engaging three safety pins 61 when the tool plate 70 is fitted into the support portion 91 and the main plate 60 is connected to the tool plate 70. Because the placement table 90 has the notch 92a, when the main plate 60 connected to the tool plate 70 is pushed against the wall portion 92, the winding portion 33a of the spring member 30 is pressed in, allowing the main plate 60 to be separated from the tool plate 70. Therefore, when changing tools, the main plate 60 and the tool plate 70 can be replaced separately or as a single unit.

[0183] Alternatively, to separate the motherboard 60 from the toolboard 70, the wall portion 92 may include a moving mechanism capable of moving from the upright position of the support portion 91. In this structure, the motherboard 60 can be separated from the toolboard 70 by moving the wall portion 92 and pressing it against the motherboard 60.

[0184] [Other Implementation Methods]

[0185] The present invention is not limited to the described embodiments. In addition to the described forms, various modifications and improvements can be implemented.

[0186] In the described embodiment, the case where one plate is a main plate and the other plate is a tool plate was described, but it is also possible for one plate to be a tool plate and the other plate to be a main plate. That is, it is also possible for the tool changing device to have an insertion recess on one side of the tool plate, and for the main plate to have a columnar portion that can be attached to and detached relative to the tool plate and inserted into the insertion recess in the connected state. The tool changing device also includes a spring member for maintaining the connection state of the tool plate and the main plate.

[0187] In the described embodiment, the motherboard and tool board are cylindrical, but the motherboard and tool board are not limited to a cylindrical shape, and their shapes can be appropriately selected according to the purpose of the tool. In addition, the motherboard and tool board do not need to be the same shape.

[0188] In the described embodiment, the case where the columnar portion has a pair of cuts facing each other across its central axis has been described, but the configuration of the cuts is not limited to this. For example, it can also be configured such that a single cut surrounds the periphery of the columnar portion.

[0189] Furthermore, the shape of the cut is not limited to having a pair of sidewalls parallel to the top surface of the column and a bottom wall connecting the pair of sidewalls. Any shape can be used as long as the side of the column is recessed further toward the central axis than the side of the top of the column and allows the spring member to engage in the connected state.

[0190] In the described embodiment, the spring member is a leaf spring, but it is not limited to a leaf spring as long as the columnar portion can be forcefully applied along its central axis in the connected state; for example, a spring including wire can also be used. Furthermore, the shape of the spring member is not limited to the shape described in the embodiment, and other shapes can be used.

[0191] In the described embodiment, a method for releasing the spring member from the notch is described by pressing a portion of the spring member from the outside to the inside of the window portion, where a portion of the spring member is exposed in the connected state. However, the method for releasing the spring member from the notch is not limited to this. For example, a dedicated release mechanism that extends the spring member outward from the central axis may also be provided.

[0192] In the second embodiment, a structure in which the tool-side communication connector is disposed in a recess provided on the top surface of the columnar portion has been described; however, the placement of the communication connector is not limited to this. The placement of each communication connector is not limited as long as they can be electrically connected to each other in the connected state.

[0193] Industrial availability

[0194] The tool changing device of the present invention allows for easy installation and removal of the main board and tool board even without fluid supply.

Claims

1. A tool changer characterized by, Comprising: a main plate mounted to a robot arm; and a tool plate detachably attached to the main plate and having a tool mounted thereto, in the tool changer, one of the main plate and the tool plate has an insertion recess in one face thereof, the other of the main plate and the tool plate has a cylindrical portion detachable with respect to the one of the main plate and the tool plate and insertable into the insertion recess in the attached state, the tool changer further includes a spring member maintaining the attached state of the one of the main plate and the tool plate and the other of the main plate and the tool plate, the cylindrical portion has a cutout in a side face thereof recessed more toward a center axis direction than a side face of a top portion of the cylindrical portion and engaged by the spring member in the attached state, the spring member exerts a force on the cylindrical portion toward the center axis direction in the attached state.

2. The tool changer device according to claim 1, characterized in that the cylindrical portion has a pair of cutouts facing each other across the center axis, the cutout has: a pair of side walls extending from a side face of the cylindrical portion in the center axis direction; and a bottom wall connecting end edges of the pair of side walls on the center axis side, a space between the pair of side walls narrows toward the bottom wall.

3. The tool changer device according to claim 2, characterized in that the spring member is a leaf spring, and the spring member has a flat portion parallel to the center axis of the cylindrical portion, a width of the flat portion is larger than the space between the pair of side walls on the bottom wall.

4. The tool changer according to any one of claims 1 to 3, characterized in that, the one of the main plate and the tool plate has a window portion exposing a part of the spring member in the attached state, engagement of the spring member with the cutout is released by pressing the part of the spring member from an outside of the window portion toward an inside direction.

5. The tool changer device according to any one of claims 1 to 3, characterized in that, the top portion of the cylindrical portion has a tapered portion expanding in diameter downward from a top face.

6. The tool changer according to any one of claims 1 to 3, characterized in that the main plate and the tool plate each have a communication connector in an inside thereof electrically connected to each other in the attached state.

Images