Tool changer for robot

Abstract

The invention relates to a tool changer for a robot, and more specifically, to a tool changer for a robot in which the shape and operating structure of the parts are simplified by using a worm gear and a rotary cam having a high reduction ratio, and which allows for a robust connection and easy replacement. The tool changer for a robot according to the present invention comprises a motor, a worm unit connected to and rotating on the rotation axis of the motor and a worm wheel unit engaged with the worm unit, a cam rotating together with the worm wheel unit rotating according to the rotation of the motor, a locking member that slides or rolls while being pushed by the surface of the cam, a first unit including a first unit housing that accommodates the locking member in a moving hole formed radially with respect to a central axis and restricts the direction of movement of the locking member, and a second unit coupled with the locking member and having its movement restricted, wherein one of the first unit and the second unit is attached to a robot and the other unit is attached to a tool.

Description

Technology Field

[0001] The present invention relates to a tool changer for a robot, and more specifically, to a tool changer for a robot in which the shape and operating structure of the parts are simplified by using a worm gear and a cam having a high reduction ratio, and which allows for a robust connection and easy replacement. Background Technology

[0003] Robots perform various roles in the manufacturing industry and play an important role in increasing productivity and improving quality.

[0004] Robots perform a variety of tasks, including precise assembly in various industrial fields such as automobiles and electronics, welding in automobile chassis manufacturing processes, painting to enhance the appearance quality and aesthetics of products, packaging of products, quality inspection to check product quality, and transportation to move goods.

[0005] While it is common for such diverse tasks to be performed by dedicated robots, there is also a growing demand for general-purpose robots that can perform various tasks as a single unit.

[0006] In order for various tasks to be performed on such general-purpose robots, the tools used by the robot must be changed according to the task; to increase work efficiency, technology for automatic tool replacement must be applied rather than a manual method.

[0007] To this end, an automatic tool changer may be applied. This device automatically changes tools to shorten work time and increase productivity, thereby increasing efficiency. It also increases accuracy by maintaining work quality through accurate tool changes, and increases flexibility by enabling the use of various tools.

[0008] A representative prior art of such an automatic tool changer is an automatic tool changer disclosed in Japanese Patent Publication No. 1999-207555, which can smoothly perform attachment and detachment between a first unit on the robot side and a second unit on the tool side by means of an electric power source.

[0009] This device causes the locking member and the hook on the second unit side to be in a locked state or a lock-released state by the movement of the locking member according to the forward and backward movement of the output part on the first unit side. The forward and backward movement of the output part is switched between the locked and lock-released states by converting the forward and reverse rotational force of the rotational shaft of the electric motor provided in the first unit into linear motion by a rotation-linear motion conversion mechanism within the first unit. The rotation-linear motion conversion mechanism is composed of a worm and a worm wheel that can be rotated in forward or reverse directly or indirectly by the electric motor, a female screw part that rotates integrally with the worm wheel, and a male screw part that moves linearly according to the rotation of the female screw part.

[0010] While this conventional technology has the advantage of enabling a high reduction ratio and increased torque by using a worm gear, the configuration of the female screw part integrated with the worm wheel for the forward and backward movement of the output part and the male screw part that performs linear motion according to the rotation of the female screw part is complex. Additionally, it requires additional components such as a guide shaft to prevent rotation of the male screw part, a locking member hinged to the first unit side, and a hook part on the second unit side, which results in poor assembly and frequent wear of various components due to repetitive use, leading to a need for replacement of parts. Prior art literature

[0012] Japanese Patent Publication No. 1999-207555 (Date of publication: August 3, 1999) The problem to be solved

[0013] In order to solve the problems of the prior art, the present invention aims to provide a tool changer for a robot that utilizes a worm gear having self-locking characteristics, a high reduction ratio, and torque increase characteristics, wherein a cam is coupled to the rotation axis of a worm wheel constituting the worm gear, and a locking state or unlocked state of a first unit on the robot side and a second unit on the tool side is realized by a locking member such as a ball that is linked according to the movement of the cam. means of solving the problem

[0015] According to one aspect of the present invention as a means of solving the problem, a tool changer for a robot according to the present invention comprises a motor, a worm unit connected to and rotating on the rotation axis of the motor and a worm wheel unit engaged with the worm unit, a cam rotating together with the worm wheel unit rotating according to the rotation of the motor, a locking member that slides or rolls while being pushed by the surface of the cam, a first unit including a first unit housing that accommodates the locking member in a moving hole formed radially with respect to a central axis and limits the direction of movement of the locking member, and a second unit coupled with the locking member and having its movement restricted, wherein one of the first unit and the second unit is attached to a robot and the other unit is attached to a tool.

[0017] And the worm unit and the worm wheel unit are accommodated in a cuboid-shaped gear housing having a width in the first direction and a height in the third direction and a depth in the second direction, and the motor is coupled to the side of the gear housing in the first direction, and the rotation axis of the motor is positioned parallel to the first direction and arranged to face the inside of the gear housing, and the worm unit is composed of a worm and a worm shaft, the worm shaft is coupled to the rotation axis of the motor, and the worm wheel unit is composed of a worm wheel and a worm wheel shaft, and the worm wheel and the worm wheel shaft can be accommodated in the second direction of the gear housing.

[0018] Meanwhile, the first unit housing is coupled to the front of the gear housing and is configured with a shape protruding in the (-) direction of the second direction, and a cam chamber is formed inside the first unit housing to accommodate the cam, so that the locking member can be positioned in contact with the surface of the cam when locked in the cam chamber.

[0019] In addition, a top cover that freely fixes the worm wheel shaft in the second direction (-) of the first unit housing may be attached.

[0020] And the above moving holes may be formed at regular intervals in the circumferential direction with respect to the central axis of the first unit housing, and preferably, three may be formed at 120-degree intervals.

[0021] In addition, three insertion holes may be formed on the opposite side of the first unit housing at 120-degree intervals in the circumferential direction, in the same direction as the direction in which the moving hole is drilled.

[0022] Additionally, the second unit has an inner surface that is fitted and coupled to the outer shape of the first unit, wherein an entrance guide surface is formed on the entrance side that gradually narrows in the direction in which the first unit enters so that the locking member can move toward the central axis when the first unit is inserted, and an inner coupling surface is formed on the inside that gradually widens in the direction in which the first unit enters so that the locking member can move toward the radial direction of the central axis when the first unit is removed.

[0023] And the rotation shaft of the motor may be connected to one end of the worm shaft, and a manual handle may be connected to the other end of the worm shaft.

[0024] In addition, a position pin protruding in the (-) direction of the second direction is disposed in the gear housing, and a position pin hole may be formed in the corresponding second unit.

[0025] According to another aspect of the present invention as a means of solving the problem, a rotation limiting groove having a certain angle in the circumferential direction is formed on the inner surface of the second direction-side bottom surface of the top cover, and a stop pin protruding radially with respect to the rotation axis of the worm wheel shaft is positioned in the rotation limiting groove, so that the rotational movement of the worm wheel shaft can be limited to a certain angle.

[0026] According to another aspect of the present invention as a means of solving the problem, the locking member may be one of a spherical ball-shaped, bullet-shaped, or wedge-shaped locking member, and the cross-sectional shape of the radial moving hole through which the locking member of the first unit moves may be one of a circle or a square corresponding to the shape of the locking member.

[0027] And the above worm unit may have the worm and the worm shaft formed as a single unit.

[0028] Additionally, the cam may form a cam unit integrally with the worm wheel shaft, and the worm wheel unit may have a worm wheel coupled to the cam unit, or the worm wheel unit may have the worm wheel and worm wheel shaft formed integrally and a cam coupled to the worm wheel unit, or the worm wheel unit may have the cam, worm wheel shaft, and worm wheel all formed integrally. Effects of the invention

[0030] According to an embodiment of the present invention, the operating mechanism, assembly structure, and part shape are simplified, and the number of components and overall size are reduced, thereby facilitating manufacturing, assembly, and maintenance, and also lowering manufacturing costs to ensure economic efficiency.

[0031] In addition, due to the characteristics of the worm gear, a self-locking function is achieved, which brings about the effect of ensuring safety in a robot system equipped with the tool changer of the present invention.

[0032] In addition, since a worm gear with a high reduction ratio and torque increase characteristics is adopted, there is no need to use a complex gear set or a high-performance motor for reduction, thereby enabling lightweight, compact, and low-power characteristics. Brief explanation of the drawing

[0034] FIG. 1 is an assembled perspective view of a tool changer for a robot according to one embodiment of the present invention. FIG. 2 is an exploded perspective view of a tool changer for a robot according to an embodiment of the present invention. FIG. 3 is a front cross-sectional view, a side cross-sectional view, and a plan cross-sectional view of a tool changer for a robot according to an embodiment of the present invention. FIG. 4 is a partial cross-sectional perspective view of a tool changer for a robot according to an embodiment of the present invention. FIG. 5 is an exemplary diagram of the combination of a first unit and a second unit of a tool changer for a robot according to an embodiment of the present invention. FIG. 6 is an operating state diagram of a cam and a locking member of a tool changer for a robot according to an embodiment of the present invention. FIG. 7 is a perspective view of a top cover and a cam unit of a tool changer for a robot according to an embodiment of the present invention. FIG. 8 is a diagram showing the combined state of a stop pin coupled to a cam unit of a tool changer for a robot according to an embodiment of the present invention and a rotation limiting groove formed in a top cover. FIG. 9 is a cross-sectional view showing a first unit of a tool changer for a robot according to another embodiment of the present invention. FIG. 10 is a cross-sectional view and a perspective view showing a bullet-shaped locking member of a tool changer for a robot according to another embodiment of the present invention. FIG. 11 is a cross-sectional view and a perspective view showing a wedge-shaped locking member of a tool changer for a robot according to another embodiment of the present invention. FIG. 12 is a perspective view showing a worm unit of a tool changer for a robot according to another embodiment of the present invention. FIG. 13 is a perspective view showing a worm wheel unit of a tool changer for a robot according to another embodiment of the present invention. Specific details for implementing the invention

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0036] In describing the present invention, the terms used in the specification below are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0037] Furthermore, terms such as “comprising” or “having” in this specification are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0038] In describing the invention with reference to the attached drawings, identical components are assigned the same reference numerals, and redundant descriptions of identical components are omitted. Furthermore, in describing the invention, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the invention, such detailed description is omitted.

[0039] Before describing the present invention, the terms related to direction are defined first. The first direction (the x-axis direction of the drawing) refers to the rotational axis direction of the motor of the present invention and the horizontal direction of the gearbox, the second direction (the y-axis direction of the drawing) refers to the longitudinal direction of the worm wheel shaft and the vertical direction of the gearbox, and the third direction (the z-axis direction of the drawing) refers to the height direction of the gearbox.

[0040] Hereinafter, preferred embodiments of the present invention will be examined in detail with reference to the drawings.

[0042] FIG. 1 is an assembled perspective view of a tool changer for a robot according to one embodiment of the present invention, FIG. 2 is an exploded perspective view, FIG. 3 (a) is a front cross-sectional view, FIG. 3 (b) is a side cross-sectional view, FIG. 3 (c) is a plan cross-sectional view, and FIG. 4 is a partial cross-sectional perspective view.

[0044] Referring to FIGS. 1 to 4, a tool changer for a robot according to an embodiment of the present invention comprises: a motor (110); a worm unit (120) connected to and rotating on the rotation axis of the motor (110) and a worm wheel unit (130) engaged with the worm unit; a cam (133) rotating in conjunction with the worm wheel unit (130) which rotates according to the rotation of the motor; a locking member (155) that slides or rolls by being pushed by the surface of the cam (133); a first unit (100) comprising a first unit housing (150) that accommodates the locking member (155) in a moving hole (152) formed radially with respect to a central axis and restricts the direction of movement of the locking member (155); and a second unit (200) coupled to the locking member (155) and having its movement restricted. One of the first unit (100) and the second unit (200) is attached to a robot, and the other The unit is attached to the tool.

[0045] And as shown in FIGS. 2 to 4, the worm unit (120) and the worm wheel unit (130) are housed in a cuboid-shaped gear housing (140) having a width in the first direction and a height in the third direction, and the motor (110) is coupled to the first side of the gear housing (140), and the rotation axis of the motor (110) is positioned parallel to the first direction and is arranged to face the inside of the gear housing (140), the worm unit (120) is composed of a worm (121) and a worm shaft (122), the worm shaft (122) is coupled to the rotation axis of the motor (110), the worm wheel unit (130) is composed of a worm wheel (131) and a worm wheel shaft (132), and the worm wheel (131) and the worm wheel shaft (132) are the gear It can be accommodated in the second direction of the housing (140).

[0046] Meanwhile, the first unit housing (150) is coupled to the front of the gear housing (140) and is configured to protrude in a (-) direction of the second direction, and a cam chamber (151) for accommodating the cam (133) may be formed inside the first unit housing (150).

[0047] And the rotational force of the above worm (121) rotates the worm wheel (131) that meshes with the worm, thereby rotating the worm wheel shaft (132). One end of the worm wheel shaft (132) can be rotatably coupled to the gear housing (140) by means of a worm wheel bearing (134), and the other end of the worm wheel shaft (132) can have a cam coupled or integrally formed and accommodated in the cam seal (151).

[0048] In addition, a top cover (160) that freely fixes the worm wheel shaft (132) in the second direction (-) of the first unit housing (150) may be attached. A bushing (164) may be inserted on the outside of the top cover (160) to allow the worm wheel shaft (132) to rotate smoothly, and a bearing may be inserted if necessary.

[0049] In the drawing, the top cover (160) is shown as being coupled to the first unit housing (150) as a separate component separated from the first unit housing (150), but it is obvious that the top cover (160) portion may also be formed by being integrally coupled with the first unit housing (150).

[0050] A first unit (100) comprising a motor (110) described above, a worm unit (120) connected to and rotating the rotation axis of the motor (110) and a worm wheel unit (130) engaged with the worm unit, a cam (133) rotating in conjunction with the worm wheel unit (130) rotating according to the rotation of the motor, a locking member (155) sliding or rolling while being pushed by the surface of the cam (133), and a first unit housing (150) that accommodates the locking member (155) in a moving hole (152) formed radially with respect to a central axis and restricts the direction of movement of the locking member (155), is inserted into a second unit (200) as shown in FIG. 5.

[0051] Next, referring to FIG. 6, which shows the operating state of the cam and locking member of a tool changer for a robot according to one embodiment of the present invention, when the cam (133) rotates while the first unit (100) is inserted into the second unit (200), as shown in FIG. 6 (c) and (d), the locking member (155) moves radially outward through the moving hole (152) by means of the protrusion (lobe) of the cam (133) to combine the first unit (100) and the second unit (200).

[0052] And when separating the second unit (200) from the first unit (100), the cam is rotated again so that the lobe of the cam (133) is positioned in the state of FIG. 6 (a) and (b), allowing the locking member (155) to move in the direction of the central axis.

[0053] Although not shown in detail in the drawing, it is preferable that the moving hole (152) forms an area where the diameter narrows rapidly as it extends outward in the radial direction, so that the locking member (155) cannot escape completely from the moving hole.

[0054] Of course, as a means to prevent the locking member (155) from coming off, a ring groove may be formed on the exit side of the moving hole (152) and a ring may be inserted into the ring groove.

[0055] Meanwhile, the moving holes (152) formed radially with respect to the central axis of the first unit housing (150) may be formed at regular intervals in the circumferential direction with respect to the central axis of the first unit housing, and more preferably, as shown in FIG. 6 (b) and (d), three moving holes (152) may be formed at 120-degree intervals in the circumferential direction with respect to the central axis of the first unit housing.

[0056] As shown in FIG. 6 (b) and (d), three insertion holes (159) may be formed on the opposite side of the first unit housing (150) at 120-degree intervals in the circumferential direction in the same direction as the direction in which the moving hole (152) is drilled. These insertion holes (159) may be used to insert a machining tool to process the narrowing moving hole (152), to insert a die tool for a caulking deformation process to narrow the hole, or to insert a locking member (155) into the moving hole (152) during assembly of the first unit (100), and may also be provided for the purpose of reducing the driving load by reducing the weight of the first unit.

[0057] Additionally, as shown in FIG. 5, the second unit (200) has an inner surface that is fitted and coupled to the outer shape of the first unit housing (150) of the first unit (100). On the entrance side, an entrance guide surface (201) is formed that gradually narrows in the direction in which the first unit (100) enters so that the locking member (155) can move toward the central axis, and on the inside, an inner coupling surface (202) is formed that gradually widens in the direction in which the first unit (100) enters so that the locking member (155) can move toward the radial outer direction.

[0058] In addition, as shown in FIG. 3, the rotation axis of the motor (110) is connected to one end of the worm shaft (122) of the worm unit (120), and a manual handle (129) can be connected to the other end of the worm shaft (122), wherein the manual handle (129) can be used to manually separate the second unit (200) from the first unit (100).

[0059] And as shown in FIGS. 5 and 6, a position pin (145) protruding in the (-) direction of the second direction (y-axis direction) is disposed in the gear housing (140), and a position pin hole (245) may be formed in the corresponding second unit (200). As shown in the drawings, it is preferable that the position pin (145) has a tapered shape in which the diameter gradually decreases in the protruding direction so that the position pin (145) can easily enter toward the position pin hole (245).

[0060] These position pins (145) perform the function of restricting rotation in the y-axis direction between the first unit and the second unit after entry is completed, and perform the role of correcting deviations in position and orientation (rotation, tilting) that occur during the assembly process between the two units, and also perform the function of an indicator that can be identified by the robot's camera, etc. when the second unit (200) attached to the tool side is found and joined by the movement of the robot arm while the first unit (100) is attached to the robot's arm.

[0062] As described above, the tool changer for a robot according to the present invention connects or separates the first unit (100) and the second unit (200) by rotating the cam (133) to move the locking member (155). At this time, the rotational movement of the cam (133) can be generated by rotating the motor (110) in forward / reverse direction for a certain period of time, and if necessary, the rotational movement can be limited to a certain range using a rotation angle detection sensor that detects the rotation angle of the motor.

[0063] And as another embodiment for limiting rotational movement within a certain range, the configuration of FIG. 7 (a), which shows a perspective view of the top cover (160) of the robot tool changer of the present invention viewed from the bottom, FIG. 7 (b), which shows a perspective view of the cap unit (135), and FIG. 8, which shows a combined state of a stop pin (136) coupled to the cam unit (135) and a rotation limiting groove (161) formed in the top cover (160), may be applied.

[0064] Referring to FIG. 7 (a), a rotation limiting groove (161) having a certain angle in the circumferential direction may be formed on the inner surface of the second direction side bottom surface of the top cover (160). A through hole into which a worm wheel shaft (132) is freely inserted is formed in the center of the top cover (160), and a rotation limiting groove (161) may be formed in a fan shape having a certain angle from the inner surface of the through hole. Additionally, a coupling hole (169) is formed on the outer edge of the top cover (160), and a bolt (168) can be fastened through this coupling hole (169) to connect the top cover (160) to the first unit housing (150) as shown in FIG. 3 (b).

[0065] And as shown in FIG. 7 (b), a stop pin (136) protruding radially with respect to the rotation axis of the worm wheel shaft (132) is positioned in the rotation limiting groove (161) of the top cover (160), so that the rotational movement of the worm wheel shaft (132) can be limited to a certain angle.

[0066] That is, when the cam (133), which rotates integrally with the worm wheel shaft (132) from the position shown in FIG. 8 (a) and (b), rotates clockwise, the stop pin (136) rotates to the position shown in FIG. 8 (c) and (d), and the stop pin (136) hits the wall of the rotation limiting groove (161), making further rotation impossible.

[0067] Conversely, when the cam (133), which rotates integrally with the worm wheel shaft (132) at the positions shown in FIG. 8 (c) and (d), is rotated counterclockwise, the stop pin (136) strikes the opposite wall of the rotation limiting groove (161), making further rotation impossible, and thus the rotation angle of the cam (133) and the worm wheel shaft (132) is limited.

[0068] Next, FIG. 9 is a cross-sectional view showing a first unit (100) of a tool changer for a robot according to another embodiment of the present invention, FIG. 9 (a) shows that, as previously described, three moving holes (152) of the first unit housing (150) are formed at 120-degree intervals in the circumferential direction with respect to the central axis of the first unit housing, and FIG. 9 (b) shows a configuration in which four moving holes (152) of the first unit housing (150) are formed at 90-degree intervals in the circumferential direction with respect to the central axis of the first unit housing, and a locking member (155) is inserted into each of the moving holes (152), for a total of four.

[0069] Next, FIG. 10 is a cross-sectional view and a perspective view showing a bullet-shaped locking member of a tool changer for a robot according to another embodiment of the present invention, and FIG. 11 is a cross-sectional view and a perspective view showing a wedge-shaped locking member of a tool changer for a robot according to another embodiment of the present invention.

[0070] Referring to FIGS. 9 to 11, the locking member may be one of a spherical ball-shaped (155), a bullet-shaped (155'), or a wedge-shaped (155”) locking member, and the cross-sectional shape of the radial movement hole through which the locking member moves, formed in the first unit housing (150) of the first unit (100), may be one of a circle or a square corresponding to the shape of the locking member.

[0071] And as shown in the perspective view of FIG. 12 (b) showing a worm unit of a tool changer for a robot according to another embodiment of the present invention, the worm unit (120) may be formed integrally with a worm (121) and a worm shaft (122), or as shown in FIG. 12 (a), the worm may be coupled to the worm shaft (122).

[0072] Next, as shown in the perspective view of FIG. 13 (b) which illustrates a worm wheel unit of a tool changer for a robot according to another embodiment of the present invention, the worm wheel unit (130) may have the cam (133), the worm wheel shaft (132), and the worm wheel (131) all formed as a single unit, or as shown in FIG. 13 (a), the worm wheel (131) may be coupled to a cam unit (135) in which the cam (133) and the worm wheel shaft (132) are formed as a single unit, or, although not shown in the drawing, the cam (133) may be coupled to a worm wheel unit (130) in which the worm wheel (131) and the worm wheel shaft (132) are formed as a single unit.

[0073] The above detailed description of the present invention describes only specific embodiments thereof. However, it should be understood that the present invention is not limited to the specific forms mentioned in the detailed description, but rather should be understood to include all variations, equivalents, and substitutions within the spirit and scope of the invention as defined by the appended claims. Explanation of the symbols

[0075] 100: 1st unit 110: Motor 111: Motor Hub 119: Motor cover 120: Worm unit 121: Worm 122: Worm shaft 124: Worm bearing 127: Bearing Carrier 128: Screw plug 129: Manual handle 130: Worm wheel unit 131: Worm wheel 132: Worm wheel shaft 133: Cam 134: Worm wheel bearing 135: Cam Unit 136: Stop pin 139: Worm wheel fixing groove 140: Gear housing 145: Position pin 150: 1st Unit Housing 151: Camsil 152: Moving hole (circular cross-section) 152": Moving hole (square cross-section) 155: Locking member (ball type) 155': Locking member (bullet type) 155": Locking member (wedge type) 159: Insertion hole 160: Top Cover 161: Rotation limiting groove 164: Bushing 168: Bolt 169: Joint hole 200: 2nd Unit 201: Entrance-side information board 202: Inner joining surface 245: Position pin insertion hole

Claims

Claim 1 A tool changer for a robot, comprising: a motor; a worm unit connected to and rotating on the rotation axis of the motor and rotating thereon, a worm wheel unit meshing with the worm unit; a cam rotating together with the worm wheel unit rotating according to the rotation of the motor; a locking member sliding or rolling while being pushed by the surface of the cam; a first unit housing that accommodates the locking member in a moving hole formed radially with respect to a central axis and restricts the direction of movement of the locking member; and a second unit coupled to the locking member and having its movement restricted, wherein one of the first unit and the second unit is attached to a robot and the other unit is attached to a tool. Claim 2 A tool changer for a robot according to claim 1, wherein the worm unit and the worm wheel unit are received in a cuboid-shaped gear housing having a width in a first direction, a height in a third direction, and a depth in a second direction; the motor is coupled to a side of the gear housing in the first direction, and the rotation axis of the motor is positioned parallel to the first direction and arranged to face the inside of the gear housing; the worm unit is composed of a worm and a worm shaft, the worm shaft is coupled to the rotation axis of the motor; the worm wheel unit is composed of a worm wheel and a worm wheel shaft, and the worm wheel and worm wheel shaft are received in the second direction of the gear housing. Claim 3 A tool changer for a robot according to claim 2, wherein the first unit housing is coupled to the front of the gear housing and is configured with a shape protruding in the (-) direction of the second direction, and a cam chamber for accommodating the cam is formed inside the first unit housing, and the locking member is positioned in contact with the surface of the cam when locked in the cam chamber. Claim 4 A tool changer for a robot according to claim 3, characterized in that a top cover is coupled to the (-) direction of the second direction of the first unit housing to freely rotatably fix the worm wheel shaft. Claim 5 A tool changer for a robot according to claim 3, characterized in that the moving holes are formed at regular intervals in the circumferential direction with respect to the central axis of the first unit housing. Claim 6 A tool changer for a robot according to claim 4, characterized in that the moving holes are formed in three places at 120-degree intervals in the circumferential direction with respect to the central axis of the first unit housing. Claim 7 A tool changer for a robot according to claim 6, characterized in that three insertion holes are formed at 120-degree intervals in the circumferential direction on the opposing surface of the first unit housing in the same direction as the direction in which the moving hole is drilled. Claim 8 A tool changer for a robot according to claim 1, wherein the second unit has an inner surface that is fitted and coupled to the outer shape of the first unit, wherein an entrance-side guide surface is formed on the entrance side that gradually narrows in the direction in which the first unit enters so that the locking member can move toward the central axis when the first unit is inserted, and an inner coupling surface is formed on the inside that gradually widens in the direction in which the first unit enters so that the locking member can move toward the radial direction of the central axis when the first unit is removed. Claim 9 A tool changer for a robot according to claim 2, characterized in that the rotation shaft of the motor is coupled to one end of the worm shaft, and a manual handle is coupled to the other end of the worm shaft. Claim 10 A tool changer for a robot according to claim 2, characterized in that a position pin protruding in a (-) direction of the second direction is disposed in the gear housing, and a position pin hole is formed in the corresponding second unit. Claim 11 A tool changer for a robot according to claim 4, wherein a rotation limiting groove having a certain angle in the circumferential direction is formed on the inner circumferential surface of the second directional bottom surface of the top cover, and a stop pin protruding radially with respect to the rotation axis of the worm wheel shaft is positioned in the rotation limiting groove, thereby limiting the rotational movement of the worm wheel shaft to a certain angle. Claim 12 A tool changer for a robot according to claim 1, wherein the locking member may be one of a spherical ball-shaped, bullet-shaped, or wedge-shaped locking member, and the cross-sectional shape of the radial movement hole through which the locking member of the first unit moves is one of a circle or a square corresponding to the shape of the locking member. Claim 13 A tool changer for a robot according to claim 2, characterized in that the worm unit comprises a worm and a worm shaft formed integrally. Claim 14 A tool changer for a robot according to claim 2, wherein the cam forms a cam unit integrally with the worm wheel shaft, and the worm wheel unit has a worm wheel coupled to the cam unit. Claim 15 A tool changer for a robot according to claim 2, characterized in that the worm wheel unit has the worm wheel and the worm wheel shaft formed integrally, and a cam is coupled to the worm wheel unit. Claim 16 A tool changer for a robot according to claim 2, characterized in that the worm wheel unit comprises a cam, a worm wheel shaft, and a worm wheel all formed as a single unit.

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