Tool plate and tool changer

Abstract

One aspect of the present disclosure is a tool plate for holding a tool, comprising: a tool plate body having an insertion hole portion formed therein into which a portion of a master plate is inserted; an annular ring member disposed in the insertion hole portion and having an engagement groove formed therein corresponding to an engagement member; and a positioning pin for circumferentially positioning the ring member when disposed in the insertion hole portion, wherein a pin hole for erecting the positioning pin is formed in the tool plate body, and the ring member in a planar view has a notch portion formed in an edge portion so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole portion formed so as to surround the positioning pin, and the notch portion or the hole portion is formed so as to have a gap between the positioning pin and the ring member.

Description

[Technical field]

[0001] The present disclosure relates to a tool plate and a tool changing device. [Background technology]

[0002] Some robot arms used in manufacturing sites are equipped with a tool changer so that they can change various tools. This type of tool changer for a robot arm allows one robot to perform multiple tasks by changing tools, making it possible to multi-function the robot and shortening setup time, thereby contributing to high-mix low-volume production.

[0003] As an example, this tool changing device has a master plate attached to the robot and a tool plate to which a tool is attached. The master plate is configured so that the tool plate can be attached and detached, and this attachment and detachment allows the robot to exchange tools suitable for the work. As such a tool changing device, a tool changing device is known in which the master plate has balls, and the balls engage and disengage with the tool plate to attach and detach the master plate and the tool plate (U.S. Pat. No. 4,696,524). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Pat. No. 4,696,524 Summary of the Invention [Problem to be solved by the invention]

[0005] A ball retainer having a hole through which a ball moves is disposed in the inner assembly (master plate) described in Patent Document 1. The ball is pushed out in a direction perpendicular to the reciprocating motion of the piston member by the reciprocating motion of the piston member, and engages with an inclined surface formed on a cam lock ring (ring member) of the outer assembly (tool plate). Since the ball is in point contact with the inclined surface, a large load may be applied to the contact portion. To address this issue, it is conceivable to provide a groove for the ball to engage with the inclined surface and to bring the groove and the ball into line or surface contact. However, if the positions of the ball and the groove do not match precisely, the ball may cause abnormal friction or an increase in surface pressure (also called "galling") against the groove, making it difficult to engage the ball, and the master plate and the tool plate may not be easily attached. If the positions of the ball and the groove are to be matched precisely, the manufacture of the tool exchange device becomes complicated, and further, strict dimensional control is required in the manufacture or processing of each member, which may increase the cost of the tool exchange device.

[0006] In view of the above-mentioned circumstances, an object of the present disclosure is to provide a tool plate that allows easy placement of a ring member having an engagement groove formed therein that engages with an engagement member. [Means for solving the problem]

[0007] One aspect of the present disclosure that solves the above-mentioned problems is a tool plate that is engageable with an engaging member of a master plate of a tool changer and holds a tool, the tool plate comprising: a tool plate main body having an insertion hole portion formed therein into which a part of the master plate is inserted; an annular ring member that is disposed in the insertion hole portion and has an engaging groove formed therein corresponding to the engaging member; and a positioning pin for circumferentially positioning the ring member when disposed in the insertion hole portion, wherein a pin hole for erecting the positioning pin is formed in the tool plate main body, and the ring member in a planar view has a notch portion formed in an edge portion so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole portion formed so as to surround the positioning pin, and the notch portion or the hole portion is formed so as to have a gap between the positioning pin and the ring member. Effect of the Invention

[0008] In the tool plate of the present disclosure, the ring member having an engagement groove formed therein for engaging with the engagement member can be easily disposed on the tool plate body. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic plan view of a tool exchange device according to an embodiment of the present invention, viewed from the master plate side. [Diagram 2] FIG. 2 is a schematic side view of the tool changer of FIG. [Diagram 3] FIG. 3 is a cross-sectional view taken along line AA in FIG. [Figure 4] FIG. 4 is a schematic cross-sectional side view showing a state in which the master plate and the tool plate in the tool exchange device of FIG. 3 are separated from each other. [Diagram 5] FIG. 5 is a schematic bottom view showing a mounting state of the master plate and the tool plate in the tool exchange device of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] [Description of the Mode for Carrying Out the Disclosure] Hereinafter, one aspect of the present disclosure will be listed and described.

[0011] (1) One aspect of the present disclosure is a tool plate that is engageable with an engaging member of a master plate of a tool changer and holds a tool, the tool plate comprising: a tool plate main body having an insertion hole portion formed therein into which a portion of the master plate is inserted; an annular ring member that is disposed in the insertion hole portion and has an engaging groove formed therein corresponding to the engaging member; and a positioning pin for circumferentially positioning the ring member when disposed in the insertion hole portion, wherein a pin hole for erecting the positioning pin is formed in the tool plate main body, and the ring member in a plan view has a notch portion formed in an edge portion so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole portion formed so as to surround the positioning pin, and the notch portion or the hole portion is formed so as to have a gap between the positioning pin and the ring member.

[0012] The tool plate includes a tool plate body, a ring member disposed in an insertion hole of the tool plate body and having an engagement groove formed therein, and a positioning pin for positioning the ring member in the circumferential direction, the tool plate body being formed with a pin hole for erecting the positioning pin, and the ring member having a notch formed in the circumferential surface so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole formed so as to surround the positioning pin. The notch or the hole is formed to have a gap between the positioning pin and the ring member. That is, the notch or the hole is formed so as to provide a play (clearance) with respect to the positioning pin. That is, the ring member does not need to be positioned in an accurate position (direction) in the circumferential direction, and can be easily positioned by aligning the notch or the hole with the positioning pin.

[0013] (2) In the above (1), the distance between a pair of edges of the notch in an edge of the ring member in a plan view, or the diameter of the hole may be 1.05 times or more the diameter of the positioning pin. This makes it easier to form the clearance, and allows the ring member to be positioned more easily.

[0014] (3) In the above (1) or (2), the notch may be formed in the ring member, and the notch may be formed in a semicircular shape in a plan view. In this way, the notch can be easily formed.

[0015] (4) One aspect of the present disclosure is a tool exchange device including the tool plate according to any one of (1) to (3) above and a master plate to which the tool plate can be detached.

[0016] The tool changing device includes the above-mentioned tool plate and can therefore be easily manufactured.

[0017] [Details of the embodiment of the present disclosure] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings as appropriate. Note that the drawings are for reference only, and the shape, scale, and the like of each component (each member) may differ from the actual ones. In the following description, "upper" refers to the master plate side in the axial direction (reciprocating direction) of the piston member in the tool exchange device, and "lower" refers to the opposite side (tool plate side). The up-down direction may be referred to as "vertical", and the direction perpendicular to the up-down direction may be referred to as "horizontal".

[0018] <Tool changer> 1 to 5, a tool exchange device 1 according to an embodiment of the present disclosure mainly includes a tool plate 20 that holds a tool (not shown) and a master plate 30 to which the tool plate 20 can be attached and detached. The master plate 30 is attached to, for example, a robot arm (not shown), and allows multiple tool plates holding different tools to be attached and detached as desired. This allows the robot arm to exchange various tools (tool plates).

[0019] [Master Plate] The master plate 30 comprises a master plate body 300 having a main body portion 310 having an attachment surface 311, and an insertion portion 320 protruding from the opposite surface 312 of the attachment surface 311 of the main body portion 310 and inserted into the tool plate 20, a piston member 340 capable of reciprocating in a piston hole portion 330 formed in the master plate body 300, and sliding members 381, 382 arranged between an inner surface 323 of the piston hole portion 330 and an outer peripheral surface of the piston member 340.

[0020] The master plate 30 further includes a mounting plate 360 ​​that is attached to the mounting surface 311. A spigot 311a is formed on the mounting surface 311 into which the outer periphery of the mounting plate 360 ​​fits. By fitting the outer periphery of the mounting plate 360 ​​into this spigot 311a, the mounting plate 360 ​​is at least partially inserted into the main body 310, so that the thickness (vertical size) of the master plate 30 can be made thinner.

[0021] (Master plate body) The master plate body 300 has a body portion 310 and an insertion portion 320, and a piston hole portion 330 is formed so as to penetrate the center thereof. It is preferable that each side surface 313 of the body portion 310, which connects the mounting surface 311 and the opposite surface 312, is at least partially formed as a flat surface. The body portion 310 of this embodiment is formed in a substantially rectangular shape in a plan view, and has four side surfaces 313 formed as flat surfaces. It is preferable that the corners of the body portion 310 in a plan view are chamfered. Since the side surfaces 313 are at least partially formed as flat surfaces, an expansion unit (not shown) such as an electric connector, a liquid connection unit, a sensor unit, etc. can be easily arranged on the flat surfaces, and the function of the tool exchange device can be easily expanded.

[0022] The insertion portion 320 is formed so as to protrude from the opposite surface 312 of the main body portion 310, and has a generally circular shape in a plan view. The insertion portion 320 is inserted into the insertion hole portion 211 of the tool plate 20. That is, the insertion portion 320 functions as a connection portion between the master plate 30 and the tool plate 20. The outer diameter of the insertion portion 320 in the lateral direction is formed to be smaller than the outer width (the distance between the opposing side surfaces 313) of the main body portion 310. In this manner, the outer width of the tool plate 20 can be made substantially the same as the outer width of the master plate 30.

[0023] The main body 310 and the insertion part 320 are preferably integrally formed from a light metal or resin. The light metal is not particularly limited, and examples thereof include aluminum, magnesium, and titanium. The resin is not particularly limited, and examples thereof include fiber-reinforced plastic, carbon fiber-reinforced plastic, engineering plastic, thermosetting resin, and thermoplastic resin. By integrally forming the main body 310 and the insertion part 320 from a light metal or resin, the master plate main body 300 can be simplified in configuration, and it becomes easier to achieve miniaturization and weight reduction. The light metal means a metal or alloy with a specific gravity of 5 or less.

[0024] The main body 310 has a pair of guide pins 314, 315. Specifically, the pair of guide pins 314, 315 are located symmetrically at the center of the insertion part 320 on a diagonal line of the main body 310, and are erected substantially vertically on the opposite surface 312. The axial direction of the guide pins 314, 315 and the axial direction of the insertion part 320 are substantially parallel, and the height of the guide pins 314, 315 (the distance from the opposite surface 312 to the lower end) is greater than the height of the insertion part 320. The tool plate 20 is formed with a pair of guide holes 216 into which the pair of guide pins 314, 315 are inserted. The lower tips of the guide pins 314, 315 are formed substantially hemispherically. By providing the guide pins 314, 315, it is possible to improve the reliability of the insertion part 320 being inserted into the insertion hole part 211 of the tool plate 20.

[0025] The cross section of one guide pin 314 is approximately circular, and the other guide pin 315 has a pair of parallel straight line portions and a pair of arc portions connecting the pair of straight line portions in the cross section. In other words, one guide pin 314 is a approximately cylindrical member, and the other guide pin 315 is a columnar member with a pair of flat portions formed on the circumferential surface (curved portion) of the cylinder.

[0026] The diameter of the pair of curved surface portions (arc portions) of the other guide pin 315 is the same as the diameter of the one guide pin 314. The pair of flat surface portions of the other guide pin 315 are formed so that the surfaces are substantially parallel to each other, and the normal line is substantially parallel to an imaginary line passing through the centers of the pair of guide pins 314, 315. The pair of guide holes 216 are formed so that the inner diameter is substantially the same as the outer diameter of one guide pin 314. By providing the flat surface portions on the other guide pin 315, a play (gap) is partially formed with respect to the one guide hole 216, so that the pair of guide pins 314, 315 can be easily inserted into the guide hole 216, and thus the tool plate 20 can be easily attached to the master plate 30.

[0027] The piston hole 330 is formed so as to penetrate the main body 310 and the insertion portion 320. The shape of the piston hole 330 in a plan view is substantially circular, and the centers of the main body 310, the insertion portion 320, and the piston hole 330 are common. The piston hole 330 of this embodiment includes a first hole 331 formed in the insertion portion 320, and a second hole 332 formed in the main body 310, the central axis of which is common to the central axis of the first hole 331, and the second hole 332 having an inner diameter larger than the inner diameter of the first hole 331. A step portion (connection surface) 333 connecting the first hole 331 and the second hole 332 is formed below the main body 310. The step portion 333 of this embodiment is formed as a surface parallel to the lateral direction. That is, a flat step portion 333 is formed at the boundary between the first hole 331 and the second hole 332. It is preferable that step portion 333 has protruding portion 334 that protrudes toward mounting surface 311 and whose inner circumferential surface is continuous with the inner circumferential surface of first hole portion 331. Specifically, it is preferable that protruding portion 334 is formed in a substantially cylindrical shape at the opening edge portion of first hole portion 331 in step portion 333 so that its inner circumferential surface and the inner circumferential surface of first hole portion 331 are flush with each other.

[0028] The piston hole portion 330 is formed as a cylinder chamber of the piston member 340. An opening above the piston hole portion 330 (an opening of the second hole portion 332 on the mounting surface 311 side) is sealed by a mounting plate 360. The mounting plate 360 ​​may be attached to the mounting surface 311 via a sealing member (not shown) such as an O-ring for keeping the inside of the second hole portion 332 airtight.

[0029] The insertion portion 320 is provided with an engagement member for mounting the tool plate 20. In this embodiment, eight balls 370 are used as the locking members. The balls 370 are arranged in ball holes 321 drilled in the insertion portion 320 at approximately equal angular intervals. The balls 370 move (roll) laterally by the reciprocating motion of the piston member 340. Specifically, a part of the ball 370 protrudes onto the outer circumferential surface 322 of the insertion portion 320 by the forward movement (downward movement) of the piston member 340, and the protruding part becomes movable into the outer circumferential surface 322 by the return movement (upward movement) of the piston member 340. The protruding part comes into contact with an engagement groove 223 formed on the engagement surface 222 of the tool plate 20, whereby the tool plate 20 is fixed to the master plate 30.

[0030] A holding member 371 for holding the ball 370 is disposed in the ball hole 321. The holding member 371 is a substantially annular member and is fitted into the ball hole 321. The front and back surfaces of the holding member 371 are formed so as not to protrude from the outer peripheral surface 322 and the inner peripheral surface 323 of the insertion portion 320. The inner peripheral surface of the holding member 371 along which the ball 370 moves is reduced in diameter on the outer peripheral surface 322 side of the insertion portion 320 to prevent the ball 370 from escaping to the outer peripheral surface 322 side of the insertion portion 320. That is, the inner peripheral surface of the holding member 371 has a protrusion that partially protrudes on the outer peripheral surface 322 side of the insertion portion 320.

[0031] The holding member 371 is preferably formed of a metal that has been subjected to an oil impregnation treatment or a ceramic that has been subjected to an oil impregnation treatment, and the metal is more preferably a heavy metal. The metal is further preferably a sintered material. In this manner, the ball 370 can be moved smoothly while maintaining strength, and wear and damage to the ball 370 and the holding member 371 can be suppressed. This can improve the durability and maintainability of the ball 370 and the holding member 371, and ultimately the tool exchange device 1.

[0032] (Piston material) The piston member 340 reciprocates within the piston hole 330. The piston member 340 is composed of a first portion 341 corresponding to the first hole 331 and a second portion 342 corresponding to the second hole 332. That is, the piston member 340 has the first portion 341 formed to be capable of reciprocating within the first hole 331, and the second portion 342 formed to be capable of reciprocating within the second hole 332. The first portion 341 and the second portion 342 may be formed integrally, or may be formed separately and joined together.

[0033] The means for reciprocating piston member 340 is not particularly limited, and for example, piston member 340 may be reciprocated by supplying and discharging a fluid such as air into second hole portion 332 to increase and decrease the pressure, or piston member 340 may be reciprocated electrically or the like.

[0034] A cam 344 is formed on the outer peripheral surface (side surface) at the lower end of the first portion 341. The cam 344 has an inclined surface that inclines inward (toward the shaft) as it goes downward. The cam 344 comes into contact with and presses the ball 370 as the piston member 340 moves forward, and a part of the ball 370 is pushed out from the outer peripheral surface 322 of the insertion portion 320, and this part engages with the engagement surface 222 of the tool plate 20, so that the opposite surface 312 of the main body portion 310 of the master plate 30 and the mounting surface 214 of the tool plate 20 come into close contact with each other. When the piston member 340 moves backward, the pressure on the ball 370 by the cam 344 is released, and the ball 370 is allowed to move into the insertion portion 320 (piston hole portion 330). This allows the tool plate 20 to be removed from the master plate 30. Furthermore, the cam 344 prevents the ball 370 from falling off into the piston hole 330 when the piston member 340 is in the upper position.

[0035] The forward movement of the piston member 340 is restricted by abutting a lower surface 342a of the second portion 342 against the step portion 333. When the tool plate 20 is attached to the master plate 30, the ball 370 pushed out by the piston member 340 may abut against the engagement groove 223 of the tool plate 20, and the opposite surface 312 of the master plate 30 and the attachment surface 214 of the tool plate 20 may come into close contact with each other, thereby restricting the forward movement of the piston member 340. In other words, in the attached state of the tool plate 20, the lower surface 342a of the second portion 342 does not need to abut against the step portion 333. The restriction of the backward movement of the piston member 340 is not particularly limited, and for example, the backward movement may be restricted by abutting an upper surface 342b of the second portion 342 against the attachment plate 360.

[0036] It is preferable that the second part 342 is formed with a recessed part 343 that does not come into contact with the protruding part 334. Specifically, it is preferable that the second part 342 has a recessed part 343 formed so as to accommodate the protruding part 334 on a lower surface 342a that comes into contact with the step part 333. That is, the recessed part 343 is an annular recess formed as a relief for the protruding part 334. By providing the recessed part 343, it is possible to ensure the stroke (the distance of the reciprocating movement) of the second part 342.

[0037] The inner circumferential surface of the protruding portion 334, together with the inner circumferential surface of the first hole portion 331 which is continuous therewith, functions as a guide surface for guiding the reciprocating motion of the first portion 341. That is, by forming the protruding portion 334 in the second hole portion 332, a guide surface for the reciprocating motion of the first portion 341 can be partially provided in the second hole portion 332. Also, by forming the recessed portion 343 in the second portion 342, the stroke of the second portion 342 in the second hole portion 332 can be ensured. That is, by providing the protruding portion 334 and the recessed portion 343, the guide surface of the first portion 341 and the guide surface (inner circumferential surface) of the second portion 342 can be overlapped. Therefore, the height of the insertion portion 320 can be suppressed while ensuring the stability of the reciprocating motion of the piston member 340, and thus the master plate 30 can be easily thinned while ensuring the reliability of mounting the tool plate 20.

[0038] (Sliding member) The sliding member is disposed between the inner peripheral surface 323 of the piston hole 330 and the outer peripheral surface of the piston member 340. The master plate 30 of this embodiment includes a first sliding member 381 disposed between the inner peripheral surface of the first hole 331 and the outer peripheral surface of the first part 341 of the piston member 340, and a second sliding member 382 disposed between the inner peripheral surface of the second hole 332 and the outer peripheral surface of the second part 342 of the piston member 340. When the reciprocating piston member 340 abuts against the inner peripheral surface of the piston hole 330, wear, damage, etc. may occur, and the reciprocating motion may become high load (high resistance). By disposing the sliding members 381 and 382, ​​the piston member 340 can be moved smoothly with low load (low resistance) while suppressing wear, damage, etc. The sliding members 381 and 382 may make the space (cylinder chamber) formed by the piston hole 330 and the piston member 340 airtight. The sliding members 381 and 382 are, for example, O-rings, and are made of silicon, a resin sealing material, fluororubber, nitrile rubber, or the like.

[0039] In the master plate 30, grooves 345, 346 in which sliding members 381, 382 are disposed are formed in the piston member 340. Specifically, a first groove 345 in which the first sliding member 381 is disposed is formed in the first portion 341, and a second groove 346 in which the second sliding member 382 is disposed is formed in the second portion 342. The second sliding member 382 is disposed so as to be located below the upper end of the protruding portion 334 when the piston member 340 moves back.

[0040] In the master plate 30, the sliding members 381, 382 are disposed on the piston member 340, but are not disposed on the master plate main body 300. In other words, grooves 345, 346 in which the sliding members 381, 382 are disposed are not formed in the master plate main body 300. This makes it possible to prevent a decrease in strength due to the formation of thin portions (grooves) in the master plate main body 300, and it is possible to ensure the strength of the master plate main body 300 while miniaturizing it.

[0041] Specifically, if a groove portion for arranging a sliding member is formed in the master plate main body 300, for example, one of the groove portions (a groove portion corresponding to the first groove portion 345) is formed on the inner circumferential surface of the piston hole portion of the insertion portion (a portion corresponding to the inner circumferential surface of the first hole portion 331). If a groove portion is formed in the insertion portion, the stress (load) from the tool plate may be concentrated in the groove portion, and the insertion portion may be damaged. For this reason, it may be necessary to ensure strength by forming the insertion portion or the master plate main body from a metal with high strength or by increasing the size. The master plate 30 does not have a groove portion and therefore does not have a portion that is formed thin, so that the concentration of stress from the tool plate 20 can be suppressed. For this reason, it is possible to ensure strength while miniaturizing the master plate main body 300.

[0042] (Mounting plate) The mounting plate 360 ​​is attached to the mounting surface 311 of the master plate 30. The mounting plate 360 ​​is formed with three or more first mounting holes 361 for mounting to a robot arm, and the master plate 30 is mounted to the robot arm by inserting and fixing bolts into the first mounting holes 361. The first mounting holes 361 are preferably formed to have a pitch interval or PCD (Pitch Circle Diameter) defined by, for example, the ISO standard. In this embodiment, six first mounting holes 361 are formed at 60 degree pitch intervals.

[0043] The mounting plate 360 ​​has bolt holes 362 through which bolts (not shown) are inserted to fix the plate to the master plate main body 300. In this embodiment, six bolt holes 362 are formed adjacent to the first mounting hole 361. The mounting plate 360 ​​preferably has a boss 364 formed on its top surface 363 for positioning with respect to the robot arm.

[0044] The mounting plate 360 ​​may have second mounting holes 365 formed at a different pitch interval or PCD from the first mounting holes 361. The holes for mounting the master plate formed in the robot arm may be formed at a pitch interval or PCD (hereinafter also referred to as "pitch, etc.") specified by a standard, or formed at a nonstandard pitch. The second mounting holes 365 are preferably formed at a pitch that corresponds to a robot arm in which holes for mounting the master plate are formed at a nonstandard pitch, or a work tool other than a robot arm. In this way, the versatility of the master plate 30 can be improved. In this embodiment, three second mounting holes 365 are formed at 120 degree pitch intervals adjacent to the bolt hole 362.

[0045] In the main body 310 of the master plate 30, a first bolt hole 316 for inserting a bolt (not shown) for fixing the master plate 30 to a robot arm or the like is formed at a position corresponding to the first mounting hole 361, and a second bolt hole (not shown) is similarly formed at a position corresponding to the second mounting hole 362. In the main body 310, a female screw hole (not shown) is formed at a position corresponding to the bolt hole 362.

[0046] [Tool plate] The tool plate 20 has a tool plate body 210 and a ring member 220. An insertion hole portion 211 is formed in the tool plate body 210, and the ring member 220 is disposed in this insertion hole portion 211. Specifically, the insertion hole portion 211 includes a first insertion hole 212 formed with approximately the same diameter as the outer diameter of the insertion portion 320, and a ring hole 213 whose center is common with the center of the first insertion hole 212, formed with an inner diameter larger than the inner diameter of the first insertion hole 212, and in which the ring member 220 is disposed.

[0047] A guide surface 215 is formed above the first insertion hole 212 (on the side of the mounting surface 214) and has a diameter enlarging so as to guide the insertion of the insertion part 320. The ring hole 213 has a first ring hole 213a in which the ring member 220 is placed, an annular groove 213b in which the annular member 240 is fitted to prevent the placed ring member 220 from falling off, and a second ring hole 213c below the annular groove 213b and having an inner diameter larger than the first ring hole 213a and smaller than the annular groove 213b (outer diameter of the annular member 240). The annular member 240 is not particularly limited, and a known member such as a C-ring or a spiral retaining ring may be used. The tool plate body 210 has the second ring hole 213c, so that the ring member 220 and the annular member 240 can be easily placed. The ring member 220 placed on the tool plate body 210 together with the annular member 240 is accommodated in the first ring hole 213a so as to be movable (rotatable) in the circumferential direction.

[0048] It is preferable that the tool plate body 210 is formed in substantially the same shape as the master plate 30 in a plan view. It is also preferable that the tool plate body 210 is formed from a light metal or resin. In this way, the weight of the tool exchange device 1 can be reduced.

[0049] Ring member 220 is an annular member, and its outer diameter is formed to be approximately the same as the inner diameter of first ring hole 213a. The upper part of the inner circumference is formed as second insertion hole 221 having the same diameter as first insertion hole 212, and the lower part of the inner circumference is formed so as to expand in diameter downward. The lower part of the inner circumference is formed as engagement surface 222 that engages with a part of ball 370 pushed out from insertion portion 320. Engagement surface 222 is formed so as to expand in diameter downward.

[0050] The engagement surface 222 is formed with engagement grooves 223 corresponding to the engagement members of the master plate 30. Specifically, the engagement surface 222 is formed with a plurality of engagement grooves 223 (eight in this embodiment) having a substantially arc-shaped cross section so as to be able to engage (abut) with the ball 370 in a line or surface. The eight engagement grooves 223 have an arc-shaped cross section and are formed radially from the center of the ring member 220 at substantially equal angular intervals so as to accommodate the movement of the ball 370. In other words, the engagement grooves 223 are formed so that the extending direction (axial direction) is the same (parallel) as the moving direction of the ball 370 (the direction pushed out by the piston member 340) in a plan view.

[0051] The ring member 220 is preferably formed of a metal that has been subjected to an oil impregnation treatment or a ceramic that has been subjected to an oil impregnation treatment. The metal is preferably a heavy metal. The metal is more preferably a sintered material. In this way, the ball 370 can be moved smoothly while maintaining strength, and wear and damage to the ball 370 and the ring member 220 can be suppressed. This improves the durability and maintainability of the ball 370 and the ring member 220, and ultimately the tool exchange device 1. The metal is not particularly limited, and examples thereof include stainless steel, iron, and titanium.

[0052] The tool plate 20 has a positioning pin 230 for positioning the ring member 220 in the circumferential direction when the ring member 220 is placed in the insertion hole portion 211 (first ring hole 213a). The positioning pin 230 is a member for positioning the engagement groove 223 in the circumferential direction so that the position of the ball 370 corresponds to the position of the ball 370 when the ring member 220 is placed in the tool plate body 210.

[0053] The tool plate body 210 is formed with a pin hole 217 in which a positioning pin 230 is erected. The positioning pin 230 is not particularly limited as long as it does not easily fall out of the pin hole 217, and a known pin such as a parallel pin or a spring pin that is press-fitted into the pin hole 217 may be used. Alternatively, the pin hole 217 may be a female screw hole, and the positioning pin 230 may be a bolt or the like.

[0054] In this embodiment, pin hole 217 is formed at bottom 219 of ring hole 213 (the plane connecting first insertion hole 212 and first ring hole 213a) so that its center is located on the outer circumferential surface of ring member 220 in a plan view. Positioning pin 230 is erected in pin hole 217. That is, positioning pin 230 is disposed in pin hole 217 so that a portion of it is embedded in pin hole 217 and the remaining portion protrudes downward from bottom 219.

[0055] The ring member 220 has a notch portion formed so as to partially surround the positioning pin 230 at a position corresponding to the pin hole 217, or a hole portion surrounding the positioning pin 217. The notch portion is preferably formed in a substantially semicircular shape in a plan view, or the hole portion is preferably formed in a substantially circular shape in a plan view. In this way, the notch portion or the hole portion can be easily formed. The ring member 220 of this embodiment has a notch portion 224 formed in a substantially semicircular shape in a plan view on its outer circumferential surface.

[0056] The notch portion 224 is formed to have a gap between it and the positioning pin 230 in a plan view. In other words, when the ring member 220 is placed on the tool plate body 210 so that the center of the notch portion 224 coincides with the center of the pin hole 217, the notch portion 224 is formed so that the inner peripheral surface of the notch portion 224 (the edge portion of the notch portion 224 in a plan view) does not come into contact with the positioning pin 230. In other words, the ring member 220 is arranged so that there is a play (clearance) in the circumferential direction within a range where the notch portion 224 comes into contact with the positioning pin 230 when the ring member 220 is placed on the tool plate body 210.

[0057] By disposing the ring member 220 on the tool plate body 210 so that the notch portion 224 is aligned with the positioning pin 230, the engagement groove 223 can be aligned with the ball 370 within a certain range (the range where the notch portion 224 abuts against the positioning pin 230). From the viewpoint of preventing galling (abnormal friction, increased surface pressure, etc.) between the ball 370 and the engagement groove 223, it is preferable that the position of the engagement groove 223 coincides with that of the ball 370. Specifically, it is preferable that the moving direction of the ball 370 and the axial direction of the engagement groove 223 coincide with each other in a plan view. However, if it is required to match the axial direction with the moving direction when disposing the ring member 220 on the tool plate body 210, the above-mentioned arrangement may become complicated.

[0058] When the ring member 220 is disposed on the tool plate body 210, the tool plate 20 can align the engagement groove 223 with respect to the ball 370 within a certain range, but the axial direction and the moving direction (hereinafter also referred to as the two directions) may not exactly match. Even if the two directions do not match, when the master plate 30 mounts the tool plate 20, when the ball 370 is pushed out of the insertion portion 320 and abuts against the engagement groove 223, the ball 370 presses the engagement groove 223, causing the engagement ring 220 to rotate in the circumferential direction so that the axial direction of the engagement groove 223 approximately matches the moving direction of the ball 370, and the two directions approximately match. For this reason, the ball 370 can move smoothly through the engagement groove 223, and the galling caused by the mismatch of the two directions can be suppressed. Therefore, the reliability of mounting the tool plate 20 on the master plate 30 can be improved.

[0059] The lower limit of the distance between a pair of edges of the notch 224 at the edge (outer peripheral surface) of the ring member 220 in plan view is preferably 1.05 times the diameter of the positioning pin 230, more preferably 1.08 times, and even more preferably 1.10 times. The upper limit of the distance between the edges is preferably 1.50 times the diameter of the positioning pin 230, more preferably 1.40 times, even more preferably 1.30 times, and particularly preferably 1.25 times. By making the distance between the edges equal to or greater than the lower limit, the ease of positioning the ring member 220 can be improved. By making the distance between the edges equal to or less than the upper limit, the reliability of the two directions being aligned by the pressing force of the ball 370 can be improved.

[0060] To attach the tool plate 20 to the master plate 30, the insertion portion 320 is inserted into the first insertion hole 212 and the second insertion hole 221, and the piston member 340 is moved forward. A part of the ball 370 is pushed outward from the insertion portion 320 by the cam 344, and a part of the ball 370 comes into contact with the engagement groove 223.

[0061] When the opposite surface 312 of the master plate body 30 and the mounting surface 214 of the tool plate 20 face each other with a gap between them, and a part of the ball 370 is pushed out further while abutting the engagement groove 223, the ball 370 pulls the tool plate 20 relatively toward the master plate 30 along the engagement groove 223, which expands (inclines) downward, and the mounting surface 214 of the tool plate body 210 and the opposite surface 312 of the master plate body 300 come into close contact with each other, and the tool plate 20 is fixed to the master plate 30.

[0062] 〔advantage〕 The tool plate 20 has a positioning pin 230 for positioning the ring member 220 in the circumferential direction, and the notch portion 224 formed in the ring member 220 is formed so as to have a gap between it and the positioning pin 230 in a plan view. The ring member 220 has a clearance in the circumferential direction in the range where the notch portion 224 abuts against the positioning pin 230, so that the ring member 220 can be easily arranged on the tool plate body 210. When the ball 370 is pushed out of the insertion portion 320 and abuts against the engagement groove 223, the ball 370 presses the engagement groove 223, so that the engagement ring 220 rotates in the circumferential direction so that the axial direction of the engagement groove 223 coincides with the moving direction of the ball 370, and the two directions are approximately the same. Therefore, the ball 370 can move smoothly in the engagement groove 223, and galling due to the mismatch of the two directions can be suppressed. Therefore, the reliability of the tool plate 20 being attached to the master plate 30 can be improved.

[0063] Other embodiments The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is not limited to the configurations of the above-described embodiments, but is indicated by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0064] The shapes of the master plate and the tool plate are not limited to a substantially rectangular shape in plan view, and are not necessarily limited to shapes having flat sides, but may be substantially circular, semicircular, elliptical, triangular, or polygonal with five or more sides in plan view.

[0065] The piston hole does not have to have the first hole and the second hole, and may be, for example, a hole that passes through the main body and the insertion portion with a constant inner diameter.

[0066] The shape of the guide pin is not particularly limited, and the cross section may be polygonal, etc. Furthermore, the number of guide pins is not particularly limited.

[0067] The mounting plate is not limited to being fitted to a spigot formed on the mounting surface. For example, the mounting plate may be placed on a flat mounting surface and fixed. The mounting plate may also have mounting holes formed at a single pitch interval or PCD.

[0068] The number of sliding members disposed on the piston member is not limited to two, but may be one or three or more.

[0069] The ring member may have a hole surrounding the positioning pin in a plan view instead of the notch. The pin hole formed in the tool plate is not limited to having its center located on the outer circumferential surface of the ring member in a plan view, and may be provided at any position within a range in which the notch or hole of the ring member does not overlap with the engagement groove in a plan view.

[0070] In the above embodiment, the master plate and the tool plate are connected when the piston member is in the lower position, but the present invention is not limited to this. The tool plate may be in a detached state when the piston member is in the lower position, and in an attached state when the piston member moves upward. [Industrial Applicability]

[0071] The tool plate of the present invention can have improved strength because it abuts against the engaging member of the master plate via a line or a surface, and can be suitably used in tool exchange devices such as robot arms that perform work involving heavy loads. [Explanation of symbols]

[0072] 1 Tool changer 20 Tool Plate 210 Tool plate body 211 Insertion hole 212 First insertion hole 213 Ring hole 213a First ring hole 213b Circular groove 213c Second ring hole 214 Mounting surface 215 Guide surface 216 Guide hole 217 Pinhole 218 Circular groove 219 Bottom 220 Ring member 221 Second insertion hole 222 Engagement surface 223 Engagement groove 224 Notch 230 Locating pin 240 Annular member 30 Master Plate 300 Master plate body 310 Main body 311 Mounting surface 311a In-ro 312 Opposite side (opposite side of mounting surface) 313 Side 314,315 Guide pin 316 First bolt hole 320 Insertion part 321 Ball hole 322 Outer surface 323 Inner surface 330 Piston hole 331 First hole 332 Second hole 333 step part 334 Protruding part 340 Piston parts 341 Part 1 342 Second part 342a Bottom side 342b top surface 343 Hollow part 344 Cam 345 First groove 346 Second groove 360 Mounting Plate 361 First mounting hole 362 Bolt hole 363 Top surface 364 Boss 365 Second mounting hole 370 Ball 371 Retaining member 381 First sliding member 382 Second sliding member

Claims

1. A tool plate that can be engaged with an engagement member of a master plate of a tool changing device and holds a tool, a tool plate body having an insertion hole into which a portion of the master plate is inserted; a ring member that is disposed in the insertion hole and has an engagement groove formed therein corresponding to the engagement member protruding from the master plate; a positioning pin for determining a circumferential position of the ring member when the ring member is disposed in the insertion hole; Equipped with a pin hole for erecting the positioning pin is formed in the tool plate body; the ring member in a plan view has a notch portion formed in an edge portion so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole portion formed so as to surround the positioning pin, the notch portion or the hole portion is formed to have a gap between the notch portion or the hole portion and the positioning pin, The tool plate is configured so that, in a plan view, the ring member is rotatable in a circumferential direction such that a moving direction of an engaging member protruding from the master plate coincides with an axial direction of the engaging groove.

2. 2. The tool plate according to claim 1, wherein the distance between a pair of edges of the notch portion at the edge of the ring member in a plan view, or the diameter of the hole portion, is 1.05 times or more the diameter of the positioning pin.

3. The notch portion is formed in the ring member, 2. The tool plate according to claim 1, wherein the cutout portion is formed in a semicircular shape in a plan view.

4. A tool plate according to claim 1, claim 2 or claim 3; This tool plate is connected to a removable master plate. A tool changing device comprising:

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