Tool adapter and industrial robot

Abstract

The utility model relates to a tool adapter (14) and an industrial robot, and the tool adapter enables a plurality of tools (16, 18) to be detachably connected to the top end of a mechanical arm (12) and is provided with a cylindrical adapter main body (20). The adapter body (20) has a flat first wall (24) to which the robot arm (12) is connected via a first connection hole (46), a flat second wall (26) to which the first tool (16) is connected via a second connection hole (48), and a flat third wall (28) to which the second tool (18) is connected via a third connection hole (50). Connection patterns (58, 60, 62) including a plurality of positioning holes (64) and a plurality of bolt mounting holes (66) are formed on the first wall (24), the second wall (26), and the third wall (28), respectively, and the first wall (24), the second wall (26), and the third wall (28) can be exchanged.

Description

Technical Field

[0001] The utility model relates to a tool adapter for installing tools on a robotic arm and an industrial robot. Background Art

[0002] In recent years, in addition to factory production lines, industrial robots have been increasingly introduced into various places such as kitchens, stores, or warehouses. Some industrial robots are configured as collaborative robots adjacent to the workplaces of operators and are used to assist the operators' work. In order to flexibly handle various work contents, industrial robots may install multiple tools at the top of the robotic arm. For example, Japanese Patent Laid-Open No. 2010-125555 discloses a structure for installing multiple tools on a robotic arm.

[0003] The tool installation structure disclosed in Japanese Patent Laid-Open No. 2010-125555 has problems such as being large-sized and heavy due to the presence of piping, etc. inside. Therefore, in industrial robots, it is desired to install multiple tools more compactly without increasing the weight. Summary of the Utility Model

[0004] The purpose of the present utility model is to solve the above technical problems.

[0005] One aspect of the following utility model is a tool adapter for detachably connecting multiple tools to the top of a robotic arm, having a cylindrical adapter body, and the adapter body includes: a first wall having a first connection hole for connecting to the robotic arm; a second wall having a second connection hole for connecting to the tool; and a third wall having a third connection hole for connecting to the tool. The first wall, the second wall, and the third wall each have a connection pattern including a plurality of positioning holes and a plurality of bolt mounting holes, and the first wall, the second wall, and the third wall can be exchanged.

[0006] Another aspect is an industrial robot, including: the tool adapter of the above aspect; a robotic arm connected to the tool adapter; and a tool connected to the tool adapter.

[0007] The tool adapter and industrial robot of the above aspect do not require the setting of flow paths and wiring inside the adapter body, so multiple tools can be installed more compactly without increasing the weight.

[0008] The above purposes, features, and advantages should be easily understood from the following description of the embodiments with reference to the drawings. Brief Description of the Drawings

[0009] Figure 1It is an explanatory diagram of an industrial robot according to a first embodiment.

[0010] Figure 2 It is Figure 1 a perspective view of the tip of the robotic arm.

[0011] Figure 3 It is Figure 2 an exploded perspective view of the tool adapter.

[0012] Figure 4A It is Figure 3 a top view of the adapter body, Figure 4B It is Figure 3 a bottom view of the adapter body.

[0013] Figure 5 It is Figure 3 a side view of the adapter body.

[0014] Figure 6 It shows Figure 3 a perspective view of an example where a robotic arm is mounted on the second wall of the adapter body and a first tool is mounted on the third wall.

[0015] Figure 7 It is a perspective view showing a structural example of connecting two adapter bodies in the tool adapter.

[0016] Figure 8A It is a side view of a tool adapter according to a second embodiment, Figure 8B It is Figure 8A a perspective view of the adapter body.

[0017] Figure 9A It shows Figure 8A a side view of a usage example of connecting a robotic arm, a first tool, and a second tool to the Figure 9B It shows Figure 8A a side view of an example where the second wall of the adapter body is connected to the robotic arm and the third wall is connected to the first tool in the tool adapter.

[0018] Figure 10A It is a side view of an adapter body according to a third embodiment, Figure 10B It is a side view of an adapter body according to a fourth embodiment. Detailed implementation mode

[0019] (First embodiment)

[0020] As Figure 1As shown in the figure, the industrial robot 10 according to this embodiment includes: a robotic arm 12, a tool adapter 14, a first tool 16, and a second tool 18. The robotic arm 12 is a multi-joint robotic arm. The first tool 16 and the second tool 18 are mounted at the tip of the robotic arm 12 via the tool adapter 14. The first tool 16 and the second tool 18 are, for example, grippers for gripping the workpiece W. The first tool 16 and the second tool 18 are not limited to grippers, and various tools can be appropriately selected according to the purpose of the operation. Such an industrial robot 10 is used, for example, for transporting the workpiece W as shown in the figure.

[0021] As Figure 2 and Figure 3 shown, the tool adapter 14 has an adapter body 20 and a tool changer 22 (a replacement metal part). The adapter body 20 has: a flat first wall 24, a flat second wall 26, and a flat third wall 28. The first wall 24, the second wall 26, and the third wall 28 are connected to each other by ridge-shaped bending portions 30. The first wall 24 and the second wall 26 are connected by a first bending portion 32. The first wall 24 and the third wall 28 are connected by a second bending portion 34. The second wall 26 and the third wall 28 are connected by a third bending portion 36. The first bending portion 32, the second bending portion 34, and the third bending portion 36 extend parallel to each other. When viewed from the extending direction of the first bending portion 32 (hereinafter, also referred to as the width direction), the adapter body 20 is triangular. The adapter body 20 is formed into a cylindrical shape by the first wall 24, the second wall 26, and the third wall 28.

[0022] The inner angle of the first bending portion 32, which is the angle between the first wall 24 and the second wall 26, is set to 45°. The inner angle of the second bending portion 34, which is the angle between the first wall 24 and the third wall 28, is set to 45°. In addition, the inner angle of the third bending portion 36, which is the angle between the second wall 26 and the third wall 28, is set to 90°. That is, when viewed from the width direction, the illustrated tool adapter 14 is an equilateral right triangle.

[0023] The adapter body 20 has opening portions 38 at a first end portion 20a and a second end portion 20b in the width direction. The opening portions 38 expose the inner surfaces of the first wall 24, the second wall 26, and the third wall 28.

[0024] The adapter body 20 has: a first connection surface 40 that is the outer surface of the first wall 24, a second connection surface 42 that is the outer surface of the second wall 26, and a third connection surface 44 that is the outer surface of the third wall 28. The first connection surface 40, the second connection surface 42, and the third connection surface 44 are respectively for the robotic arm 12, the first tool 16, or the second tool 18 to be detachably connected via the tool changer 22. In the illustrated example, the robotic arm 12 is connected to the first wall 24, the first tool 16 is connected to the second wall 26, and the second tool 18 is connected to the third wall 28.

[0025] As Figure 4A shown, a first connection hole 46 for connecting the tool changer 22 is formed in the first wall 24. The first connection hole 46 is formed as a circle and is located at the center of the first wall 24 in the longitudinal direction and the width direction. In addition, the longitudinal direction of the first wall 24 is a direction perpendicular to the width direction of the first wall 24. The first connection hole 46 penetrates the first wall 24 in the thickness direction. The first connection hole 46 has an inner diameter larger than that of the plurality of holes of the first connection pattern 58 described later of the first wall 24.

[0026] A collar member 52 of the tool changer 22 described later is inserted into the first connection hole 46. The first connection hole 46 has a large-diameter portion 54 located near the outer surface of the first wall 24 and a small-diameter portion 56 located near the inner surface of the first wall 24. The large-diameter portion 54 has a diameter slightly larger than the outer diameter of the collar member 52. The small-diameter portion 56 has a diameter smaller than that of the large-diameter portion 54, thereby preventing the collar member 52 from falling off.

[0027] As Figure 4A shown, the first wall 24 has a first connection pattern 58 including a plurality of holes around the first connection hole 46. The first connection pattern 58 has a plurality of positioning holes 64 and a plurality of bolt mounting holes 66. The positioning holes 64 are holes for inserting positioning pins 68 and are non-penetrating holes formed to a specified depth. Four positioning holes 64 are arranged at an angle of 90° in the circumferential direction with respect to the center of the first connection hole 46. Some of the positioning holes 64 may be formed as oblong holes extending longer in the radial direction of the first connection hole 46. The other holes formed around the first connection hole 46 are bolt mounting holes 66. The bolt mounting holes 66 are holes for fastening based on fastening members such as fastening bolts 70 and penetrate the first wall 24 in the thickness direction.

[0028] As Figure 4B shown, the second wall 26 has a second connection hole 48. The second connection hole 48 is located at the center of the second wall 26 in the width direction and the longitudinal direction of the second wall 26. In addition, the longitudinal direction of the second wall 26 is perpendicular to the width direction of the second wall 26. The second connection hole 48 has the same shape as the first connection hole 46 and has a large-diameter portion 54 and a small-diameter portion 56 of the same shape.

[0029] The second wall 26 has a second connection pattern 60 including a plurality of holes around the second connection hole 48. The second connection pattern 60 has a plurality of positioning holes 64 and a plurality of bolt mounting holes 66. In the second connection pattern 60, the arrangement of the positioning holes 64 relative to the second connection hole 48 is the same as the arrangement of the positioning holes 64 of the first connection pattern 58 relative to the first connection hole 46. In addition, the bolt mounting holes 66 of the second connection pattern 60 have the same arrangement as the bolt mounting holes 66 of the first connection pattern 58, except that the four bolt mounting holes 66 located at the four corners of the first connection pattern 58 are omitted.

[0030] The third wall 28 has a third connection hole 50. The third connection hole 50 is located at the center in the width direction and the long side direction of the third wall 28. In addition, the long side direction of the third wall 28 is perpendicular to the width direction of the third wall 28. The third connection hole 50 has the same shape as the first connection hole 46 and the second connection hole 48. The third wall 28 has a third connection pattern 62 including a plurality of holes around the third connection hole 50. The third connection pattern 62 has the same plurality of holes around the third connection hole 50 as the second connection pattern 60.

[0031] As Figure 2 shown, the tool changer 22 is a metal part capable of attaching and detaching the adapter body 20 and the robotic arm 12 (or tool) with a relatively simple operation. The tool changer 22 has a first plate 72 and a second plate 76. The first plate 72 is a disk-shaped member fixed to the robotic arm 12 or the tool, and the second plate 76 is a metal part fixed to the adapter body 20.

[0032] As Figure 3 shown, the first plate 72 has convex portions 78a, 78b at the central portion. The convex portion 78a protrudes toward the robotic arm 12 and engages with an unillustrated concave portion at the tip of the robotic arm 12. The convex portion 78b is located at a position on the side opposite to the convex portion 78a in the thickness direction and protrudes toward the second plate 76. A plurality of positioning holes 64A and a plurality of bolt mounting holes 66A are formed on the outer periphery of the convex portion 78a. The first plate 72 is fixed to the tip of the robotic arm 12 by the bolt mounting holes 66A with fastening bolts 70. The positioning pins 68 are inserted into the positioning holes 64A to position the first plate 72 and the robotic arm 12 in the circumferential direction.

[0033] The second plate 76 is an annular plate member having central recesses 80a and 80b in the central portion. The central recess 80a is formed on the surface facing the first plate 72, and the central recess 80b is formed on the surface facing the adapter body 20. The central recesses 80a and 80b are separated from each other in the thickness direction of the second plate 76 via the recess wall 81. The collar member 52 is inserted into the central recess 80b. The convex portion 78b of the first plate 72 is inserted into the central recess 80a. The convex portion 78b is fitted into the central recess 80a to position the first plate 72 and the second plate 76 in the connection surface direction. In addition, instead of the central recesses 80a and 80b, a through hole that penetrates the second plate 76 in the thickness direction may be provided.

[0034] In addition, the second plate 76 has a plurality of bolt mounting holes 66B in the annular portion around the central recessed portions 80a, 80b. The second plate 76 is fixed to the adapter body 20 by the fastening bolts 70 through the bolt mounting holes 66B. The second plate 76 has positioning holes 64B on the surface facing the adapter body 20. The second plate 76 is positioned in the circumferential direction with respect to the adapter body 20 by the positioning pins 68 disposed in the positioning holes 64B.

[0035] The collar member 52 is disposed in the first connection hole 46 of the adapter body 20. The collar member 52 is fitted into the central recess 80b of the second plate 76. The collar member 52 positions the adapter body 20 and the second plate 76 in the connection surface direction. The collar member 52 prevents the tool changer 22 and the adapter body 20 from shaking. In addition, the collar member 52 may be integrated with the second plate 76.

[0036] The connecting member 82 is fitted into the groove 74 formed on the side of the first plate 72 and the groove 74 formed on the side of the second plate 76. The connecting member 82 has a pair of claws 82a protruding toward the first plate 72 and the second plate 76. The claws 82a of the connecting member 82 sandwich the first plate 72 and the second plate 76. The bolt 82b inserted into the center of the connecting member 82 is screwed into the threaded hole 84 formed in the first plate 72 and the second plate 76. As a result, the first plate 72 and the second plate 76 are connected to each other through the connecting member 82.

[0037] like Figure 5 As shown, in the adapter body 20, an imaginary line passing through the center of the first connection hole 46 of the first wall 24 and perpendicular to the first connection surface 40 is used as the first axis 86. The first axis 86 is connected to the central axis 102 of the robot arm 12 connected to the first wall 24 (refer to Figure 2 ). In addition, an imaginary line passing through the center of the second connection hole 48 of the second wall 26 and perpendicular to the second connection surface 42 is defined as the second axis 88. The second axis 88 is aligned with the central axis 104 (refer to Figure 2)The imaginary line passing through the center of the third connection hole 50 in the third wall 28 and perpendicular to the third connection surface 44 is taken as the third axis 90. The third axis 90 coincides with the central axis 106 of the second tool 18 connected to the third wall 28.

[0038] The first axis 86, the second axis 88, and the third axis 90 intersect with each other at the intersection point 92. The intersection point 92 is located on the first connection surface 40. As Figure 2 shown, such a tool adapter 14 can connect the first tool 16 and the second tool 18 symmetrically with respect to the central axis 102 of the robotic arm 12. Therefore, the tool adapter 14 can switch between using the first tool 16 and the second tool 18 by rotating the robotic arm 12 about the central axis 102. In addition, the tool adapter 14 can reduce the rotation radius of the first tool 16 and the second tool 18 about the central axis 102, so that the handling of the robotic arm 12 in a narrow space can be easily performed.

[0039] As Figure 6 shown, the tool adapter 14 can also be used as an angle-changing tool that mounts the first tool 16 to be inclined 90° with respect to the robotic arm 12. In this case, the tip of the robotic arm 12 is connected to the second connection surface 42 (second wall 26) of the adapter body 20, and the first tool 16 is connected to the third connection surface 44 (third wall 28).

[0040] In addition, as Figure 7 shown, the tool adapter 14 of the present embodiment may also be configured by connecting two adapter bodies 20 in a manner that their first walls 24 abut against each other. In this example, the first tool 16 and the second tool 18 can be mounted at positions circumferentially separated by 180° with respect to the central axis 102 of the robotic arm 12.

[0041] (Second Embodiment)

[0042] As Figure 8A shown, the tool adapter 14A of the present embodiment has an adapter body 20A that is equilateral triangular when viewed in the width direction. The inner angles of the first bending portion 32, the second bending portion 34, and the third bending portion 36 of the adapter body 20A are 60° respectively. As Figure 8B shown, in the structure of the adapter body 20A of the present embodiment, the same reference numerals are given to the same structures as those of the adapter body 20 described with reference to Figures 2 to 7 and the detailed description thereof is omitted.

[0043] As Figure 8AAs shown, in the adapter body 20A, the inner angles of the first bending portion 32, the second bending portion 34, and the third bending portion 36 are 60° respectively. The first axis 86, the second axis 88, and the third axis 90 intersect at the intersection point 94 inside the first connection surface 40, the second connection surface 42, and the third connection surface 44. As Figure 9A shown, the adapter body 20A of the embodiment can mount the first tool 16 and the second tool 18 in an orientation inclined 60° with respect to the central axis 102 of the robotic arm 12. The adapter body 20A can symmetrically mount the first tool 16 and the second tool 18 with respect to the central axis 102 of the robotic arm 12. Moreover, the adapter body 20A can arrange the first tool 16 and the second tool 18 at a position closer to the central axis 102 of the robotic arm 12, thus facilitating the processing in the narrow space of the first tool 16 and the second tool 18.

[0044] As Figure 9B shown, the adapter body 20A can also be used as an angle-changing tool that mounts the first tool 16 inclined 60° with respect to the central axis 102 of the robotic arm 12. In this case, the robotic arm 12 is connected to the second connection surface 42 (second wall 26) of the adapter body 20A, and the first tool 16 is connected to the third connection surface 44 (third wall 28).

[0045] (Third Embodiment)

[0046] As Figure 10A shown, the adapter body 20B according to this embodiment is formed in a quadrilateral tubular shape when viewed from the width direction. The adapter body 20B has a first wall 24, a second wall 26, a third wall 28, and a fourth wall 108. Connection holes identical to the first connection hole 46 and a plurality of holes identical to the first connection pattern 58 are formed in at least three of the first wall 24, the second wall 26, the third wall 28, and the fourth wall 108.

[0047] In addition, connection holes identical to the first connection hole 46 and a plurality of holes identical to the first connection pattern 58 may be formed in all of the first wall 24, the second wall 26, the third wall 28, and the fourth wall 108. As shown, the first wall 24, the second wall 26, the third wall 28, and the fourth wall 108 may also be connected to each other at an angle of 90°. In this case, the shape of the adapter body 20B when viewed from the width direction is a square or rectangular tubular shape. Additionally, the first wall 24, the second wall 26, the third wall 28, and the fourth wall 108 may be connected at an angle other than 90°. In this case, the adapter body 20B may be trapezoidal when viewed from the width direction.

[0048] (Fourth Embodiment)

[0049] As shown in Figure 10B FIG. 2, the adapter body 20C according to the present embodiment is formed in a tubular shape that is a regular hexagon when viewed in the width direction. The adapter body 20C has a first wall 24, a second wall 26, a third wall 28, a fourth wall 108, a fifth wall 112, and a sixth wall 114. At least three of the first wall 24, the second wall 26, the third wall 28, the fourth wall 108, the fifth wall 112, and the sixth wall 114 are formed with connection holes identical to the first connection hole 46 and a plurality of holes identical to the first connection pattern 58. In addition, a plurality of holes identical to the first connection hole 46 and the first connection pattern 58 may be provided in all of the first wall 24, the second wall 26, the third wall 28, the fourth wall 108, the fifth wall 112, and the sixth wall 114.

[0050] Regarding the above-mentioned utility model, the following supplementary notes are also disclosed.

[0051] (Supplementary Note 1)

[0052] The tool adapters 14, 14A detachably connect a plurality of tools 16, 18 to the tip of the robotic arm 12, and have tubular adapter bodies 20, 20A, 20B, 20C. The adapter bodies include: a first wall 24, which has a first connection hole 46 and is for connecting the robotic arm; a second wall 26, which has a second connection hole 48 and is for connecting the tool; and a third wall 28, which has a third connection hole 50 and is for connecting the tool. The first wall, the second wall, and the third wall each have a connection pattern that includes a plurality of positioning holes 64 and a plurality of bolt mounting holes 66, and the first wall, the second wall, and the third wall can be exchanged. Such a tool adapter does not require flow paths and wiring to be provided inside the adapter body, so that a plurality of tools can be more compactly and without increasing weight mounted on the tip of the robotic arm.

[0053] (Supplementary Note 2)

[0054] In the tool adapter described in Supplementary Note 1, the adapter body may be a triangular tubular shape formed by connecting the first wall, the second wall, and the third wall through a bending portion 30. This tool adapter can simplify the structure of the adapter body, thereby further achieving miniaturization and light weight.

[0055] (Supplementary Note 3)

[0056] In the tool adapter described in Supplementary Note 1 or 2, the angle between the first wall and the second wall may be 45°, and the angle between the first wall and the third wall may be 45°. Such a tool adapter can mount two tools in a direction inclined 45° with respect to the central axis of the robotic arm.

[0057] (Supplementary Note 4)

[0058] In the tool adapter described in Supplementary Note 1 or 2, it is also possible that the angle between the first wall and the second wall is 60°, and the angle between the first wall and the third wall is 60°. This tool adapter can mount two tools in an orientation inclined 60° relative to the central axis of the robotic arm.

[0059] (Supplementary Note 5)

[0060] In the tool adapter described in any one of Supplementary Notes 1 to 4, it is also possible that a first axis 86 passing through the center of the first connection hole and perpendicular to the first wall, a second axis 88 passing through the center of the second connection hole and perpendicular to the second wall, and a third axis 90 passing through the center of the third connection hole and perpendicular to the third wall intersect on the surface or inside of the adapter body. Such a tool adapter can connect the first tool and the second tool more compactly in a manner closer to the central axis of the robotic arm.

[0061] (Supplementary Note 6)

[0062] Another aspect is an industrial robot 10, comprising: a tool adapter described in any one of Supplementary Notes 1 to 5; a robotic arm connected to the tool adapter; and a tool connected to the tool adapter. This industrial robot can compactly mount a tool at the tip of the robotic arm.

[0063] Furthermore, the present utility model is not limited to the above content, and various structures can be adopted as long as they do not depart from the gist of the present utility model.

Claims

1. A tool adapter (14, 14A) for detachably connecting a plurality of tools (16, 18) to the top of a robot arm (12), characterized in that: An adapter body (20, 20A, 20B, 20C) having a cylindrical shape, The adapter body comprises: a first wall (24), the first wall having a first connection hole (46) for connection with the robot arm; A second wall (26) having a second connecting hole (48) for connecting the tool; as well as a third wall (28), the third wall having a third connecting hole (50) for connecting the tool, The first wall, the second wall and the third wall respectively have connection patterns (58, 60, 62), and the connection patterns include a plurality of positioning holes (64) and a plurality of bolt mounting holes (66). The first wall, the second wall and the third wall can be interchanged.

2. The tool adapter according to claim 1, characterized in that: The adapter body is in a triangular cylindrical shape formed by connecting the first wall, the second wall and the third wall via a bent portion (30).

3. The tool adapter according to claim 1 or 2, characterized in that: The angle between the first wall and the second wall is 45°, and the angle between the first wall and the third wall is 45°.

4. The tool adapter according to claim 1 or 2, characterized in that: The angle between the first wall and the second wall is 60°, and the angle between the first wall and the third wall is 60°.

5. The tool adapter according to claim 1 or 2, characterized in that: A first axis (86) passing through the center of the first connecting hole and perpendicular to the first wall, a second axis (88) passing through the center of the second connecting hole and perpendicular to the second wall, and a third axis (90) passing through the center of the third connecting hole and perpendicular to the third wall intersect on the surface or inside of the adapter body.

6. An industrial robot, characterized in that: have: The tool adapter according to claim 1 or 2; a robotic arm connected to the tool adapter; and A tool is connected to the tool adapter.

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