Automatic mechanical tool changer for robot

Abstract

The present invention relates to an automatic mechanical tool changer for a robot, the automatic mechanical tool changer comprising: a master device having one side coupled to an end of a robot; a slave device having one side to which a tool is coupled; a first coupling module provided on one of the other end of the master device and the other end of the slave device; and a second coupling module provided on the other of the other end of the master device and the other end of the slave device and detachably coupled to the first coupling module such that the master device and the slave device are coupled and decoupled. The second coupling module comprises: a button portion capable of reciprocating along a first direction on a coupling plane perpendicular to the direction in which the first coupling module and the second coupling module are coupled; an engaging member configured to reciprocate along a second direction perpendicular to the first direction on the coupling plane so as to engage with and disengage from the first coupling module such that the first defective module and the second coupling module can attach / detach; and a connecting link having one side rotatably coupled to the button portion and having the other side rotatably coupled to the engaging member such that the reciprocating movement of the button portion in the first direction is converted into the reciprocating movement of the engaging member in the second direction.

Description

Mechanical automatic tool changer for robots

[0001] The present invention relates to a mechanical automatic tool changer for a robot, and more particularly, to a mechanical automatic tool changer for a robot that is mounted at the end of a robot and can automatically change various tools to perform work.

[0002] As the robotics industry develops, attempts to utilize robots in various fields are increasing, and in line with this trend, various robots are being developed, such as collaborative robots that work alongside people, serving robots that deliver food, and service robots that can perform housework and cooking.

[0003] In order to utilize these robots, research on robot hands and grippers equivalent to human hands has also been conducted, and grippers with various mechanisms have been developed, but they are rarely used in practice due to reasons such as high cost, low durability and operability, and limited movement.

[0004] Therefore, rather than using a single, expensive robot hand to perform various tasks, tool changing systems consisting of a tool changer and multiple tools that are used by replacing inexpensive, simple grippers specialized for specific tasks are emerging as a realistic solution.

[0005] A practical commercial tool changing system has been developed and introduced into actual fields, and is being utilized in various fields by replacing various tools.

[0006] This tool-changing system includes a master device attached to the robot's end, and multiple slave devices, each equipped with a specific tool. Depending on the task at hand, the slave devices, each equipped with the required tool, are connected to the master device to perform the task.

[0007] Here, the process of removing the existing slave device from the master device to use the new tool and then mounting the new slave device on the master device is performed.

[0008] Given the nature of robotic work, the connection between the master device and slave device must be strong, and replacement must also be easy.

[0009] However, considering the weight of the tool-mounted slave device, it is impractical for workers to manually remove and install it. Therefore, using power to mount and remove the master and slave devices increases manufacturing costs, limiting its practical application in real-world settings.

[0010] Accordingly, the present invention has been devised to solve the above-mentioned problems, and its purpose is to provide a mechanical automatic tool changer for a robot that can reduce manufacturing costs by enabling coupling and decoupling between a master device and a slave device without separate power.

[0011] In addition, another object of the present invention is to provide a mechanical automatic tool changer for a robot that can be coupled and decoupled without power while ensuring a strong coupling.

[0012] In addition, another object of the present invention is to provide a mechanical automatic tool changer for a robot that facilitates power transmission from a master device to a slave device for driving a tool.

[0013] The above object is achieved by, according to the present invention, a master device having one end coupled to an end of a robot, a slave device having a tool coupled to one end, a first coupling module provided on one end of the other end of the master device and the other end of the slave device, and a second coupling module provided on the other end of the other end of the master device and the other end of the slave device, detachably coupled to the first coupling module to couple and decouple the master device and the slave device; The second coupling module is achieved by a mechanical automatic tool changer for a robot, characterized in that it includes a button portion that can be reciprocated along a first direction on a coupling plane that is perpendicular to the coupling direction of the first coupling module and the second coupling module, a locking member that can reciprocate along a second direction that is perpendicular to the first direction on the coupling plane to be engaged and released from the first coupling module so that the first defective module and the second coupling module can be detached, and a connecting link that has one side rotatably coupled to the button portion and the other side rotatably coupled to the locking member, and converts the reciprocating movement of the button portion in the first direction into the reciprocating movement of the locking member in the second direction.

[0014] Here, the second coupling module further includes a second coupling housing in which the button portion, the catch member, and the connecting link are accommodated; the button portion, the catch member, and the connecting link are provided in pairs and can be accommodated symmetrically about the second direction in the second coupling housing.

[0015] And, the second coupling housing may include a first guide portion that guides the reciprocating movement of the button portion in the first direction.

[0016] Additionally, a pair of the above button portions and a pair of the above catch members may be alternately arranged in a + shape on the radially outer side of the second coupling housing.

[0017] And, the button portion includes an external pressing portion that is exposed to the outside of the second coupling housing in the first direction and moves inward by an external force, an inner extension portion that extends in an arc shape from the external pressing portion inside the second coupling housing toward the engaging member and is rotatably coupled with the connecting link, and an elastic member that elastically presses the external pressing portion outward along the first direction; when the external pressing portion moves inward by an external force, the engaging between the engaging member and the first coupling module is released, and when the external pressing portion moves outward by the elastic force of the elastic member, the engaging member can be caught on the first defective module.

[0018] And, the first coupling module may include the first coupling housing and a pair of catching jaw members arranged on both sides of the first direction inside the first coupling housing in correspondence with the catching members, and catching and releasing the catching members according to the reciprocating movement of the catching members.

[0019] In one embodiment, the first coupling module is provided in the master device, the second coupling module is provided in the slave device, and a button exposure hole through which the external pressurizing portion is exposed to the outside may be formed in the second coupling housing.

[0020] And, it further includes a tool holder for mounting the slave device; the slave device is mounted on the tool holder by the second coupling module being mounted on the tool holder; and the external pressurizing unit can be pressed by the tool holder and move inward when the second coupling module is mounted on the tool holder.

[0021] And, the tool holder includes a holder plate and a pair of tool holder slits that protrude forward from the holder plate but are spaced apart from each other; the second coupling module is inserted between the pair of tool holder slits and is mounted on the tool holder; in a region of the outer circumferential surface of the second coupling housing where the pair of button exposure holes are formed, a slit mounting groove is formed along the front-back direction into which each of the tool mounting slits is fitted so that the second coupling module can be mounted when the second coupling module is inserted between the pair of tool mounting slits; and when the tool mounting slit is fitted into the slit mounting groove, the tool mounting slit presses the external pressurizing portion inward so that the external pressurizing portion can move inward.

[0022] In addition, a second guide portion may be formed in the first coupling housing to guide the reciprocating movement of the engaging member in the second direction when the first coupling module and the second coupling module are coupled.

[0023] In another embodiment, the first coupling module is provided in the slave device, the second coupling module is provided in the master device, and a button pass-through hole may be formed in the first coupling housing so that the external pressure unit located in the second coupling module is exposed to the outside of the first coupling housing when the first coupling module and the second coupling module are coupled.

[0024] And, it further includes a tool holder for mounting the slave device; the slave device is mounted on the tool holder by mounting the first coupling module on the tool holder; and the external pressurizing portion exposed to the outside through the button passage hole of the first coupling housing can be pressed by the tool holder and moved inward when the first coupling module is mounted on the tool holder.

[0025] And, the tool holder includes a holder plate and a pair of tool holder slits that protrude forward from the holder plate but are spaced apart from each other; the first coupling module is inserted between the pair of tool holder slits and is mounted on the tool holder; in a region of the outer circumferential surface of the first coupling housing where the pair of button passage holes are formed, a slit mounting groove is formed along the front-back direction into which each of the tool mounting slits is fitted so that the first coupling module can be mounted when the first coupling module is inserted between the pair of tool mounting slits; and when the tool mounting slit is fitted into the slit mounting groove, the tool mounting slit presses the external pressurizing portion inward so that the external pressurizing portion can move inward.

[0026] And, when the external pressurizing portion moves inward by the tool mounting slit, it moves inward from the button passage hole of the first coupling housing, thereby enabling separation of the first coupling module and the second coupling module.

[0027] In addition, a second guide portion that guides the reciprocating movement of the engaging member in the second direction may be formed in the second coupling housing.

[0028] In one embodiment, the first coupling housing and the second coupling housing have a ring shape with an inner side that is open upward and downward; and the inner extension of the button portion can extend in an arc shape along the inside of the second coupling housing having a ring shape toward the engaging member.

[0029] According to the above configuration, the present invention provides a mechanical automatic tool changer for a robot that can reduce manufacturing costs by enabling coupling and decoupling between a master device and a slave device without separate power.

[0030] In addition, according to the present invention, a mechanical automatic tool changer for a robot is provided that can be coupled and decoupled without power while ensuring a strong coupling.

[0031] And, according to the present invention, a mechanical automatic tool changer for a robot is provided, which facilitates transmission of driving force from a master device to a slave device for driving a tool.

[0032] FIG. 1 is a perspective view of a mechanical automatic tool changer for a robot according to a first embodiment of the present invention.

[0033] FIG. 2 is a drawing showing a state of disengagement of a master device and a slave device of a mechanical automatic tool changer for a robot according to the first embodiment of the present invention.

[0034] Figure 3 is a cross-sectional view taken along line Ⅲ-Ⅲ of Figure 2,

[0035] Figure 4 is a cross-sectional view taken along line Ⅳ-Ⅳ of Figure 2,

[0036] FIG. 5 is a drawing for explaining the operating principle of the second coupling module of the mechanical automatic tool changer for a robot according to the first embodiment of the present invention.

[0037] FIG. 6 is a drawing showing the bottom surface of the second upper casing of the second coupling casing of the mechanical automatic tool changer for a robot according to the first embodiment of the present invention.

[0038] FIG. 7 is a drawing for explaining a first coupling module of a mechanical automatic tool changer for a robot according to a first embodiment of the present invention.

[0039] FIG. 8 is a drawing for explaining a mechanical automatic tool changer for a robot according to a second embodiment of the present invention.

[0040] Fig. 9 is a cross-sectional view taken along line Ⅸ-Ⅸ of Fig. 8,

[0041] Fig. 10 is a cross-sectional view taken along line Ⅹ-Ⅹ of Fig. 8,

[0042] FIG. 11 is a drawing showing examples of a catch member and a catch jaw member of a mechanical automatic tool changer for a robot according to an embodiment of the present invention.

[0043] The present invention comprises a master device having one end coupled to an end of a robot, a slave device having a tool coupled to one end, a first coupling module provided on one end of the other end of the master device and the other end of the slave device, and a second coupling module provided on the other end of the other end of the master device and the other end of the slave device, detachably coupled to the first coupling module to couple and decouple the master device and the slave device; The second coupling module is characterized in that it includes a button portion that can be reciprocated along a first direction on a coupling plane that is perpendicular to the coupling direction of the first coupling module and the second coupling module, a locking member that can reciprocate along a second direction that is perpendicular to the first direction on the coupling plane to be engaged and released from the first coupling module so that the first defective module and the second coupling module can be detached, and a connecting link that has one side rotatably coupled to the button portion and the other side rotatably coupled to the locking member, and converts the reciprocating movement of the button portion in the first direction into the reciprocating movement of the locking member in the second direction.

[0044] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined solely by the scope of the claims.

[0045] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0046] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0047] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0048] Example 1

[0049] FIG. 1 is a perspective view of a mechanical automatic tool changer (10) for a robot according to a first embodiment of the present invention, and FIG. 2 is a drawing showing a state in which a master device (100) and a slave device (200) of a mechanical automatic tool changer (10) for a robot according to the first embodiment of the present invention are disconnected.

[0050] Referring to FIGS. 1 and 2, a mechanical automatic tool changer (10) for a robot according to a first embodiment of the present invention may be configured to include a master device (100), a slave device (200), a first coupling module (300), and a second coupling module (400). In addition, the mechanical automatic tool changer (10) for a robot according to an embodiment of the present invention may be configured to include a tool holder (500).

[0051] The master device (100) is coupled to the end of a robot (not shown) on one side. The slave device (200) is coupled to a tool (not shown) on one side, and the other side is detachably coupled to the other side of the master device (100).

[0052] In the first embodiment of the present invention, a slave device (200) is detachably coupled to a master device (100) by a first coupling module (300) and a second coupling module (400).

[0053] In one embodiment, a tool is mounted on a tool holder (500) while being coupled to a slave device (200), and a master device (100) attached to the end of the robot is coupled to the slave device (200) mounted on the tool holder (500) according to the operation of the robot manipulator, or the slave device (200) is mounted on the tool holder (500) and then the defect is released, thereby attaching and detaching various types of tools to the end of the robot.

[0054] In the first embodiment of the present invention, a first coupling module (300) is provided at the other end of a master device (100), and a second coupling module (400) is provided at the other end of a slave device (200), so that the slave device (200) is detachably coupled to the master device (100) through coupling and decoupling between the first coupling module (300) and the second coupling module (400).

[0055] FIG. 3 is a cross-sectional view taken along line Ⅲ-Ⅲ of FIG. 2, FIG. 4 is a cross-sectional view taken along line Ⅳ-Ⅳ of FIG. 2, and FIG. 5 is a drawing for explaining the operating principle of the second coupling module (400) of the mechanical automatic tool changer (10) for a robot according to the first embodiment of the present invention.

[0056] Referring to FIGS. 3 and 4, the second coupling module (400) according to the first embodiment of the present invention may be configured to include a button portion (420), a catch member (430), and a connecting link (440). In addition, the second coupling module (400) may be configured to include a first coupling casing (310).

[0057] The button portion (420) according to the embodiment of the present invention is installed in the first coupling casing (310) so as to be reciprocally movable along the first direction on a coupling plane that is perpendicular to the coupling direction of the first coupling module (300) and the second coupling module (400).

[0058] In addition, the catch member (430) moves back and forth along a second direction perpendicular to the first direction on the joining plane to catch and release the catch from the first joining module (300), thereby enabling the first joining module (300) and the second joining module (400) to be detachably attached to each other.

[0059] Here, the connecting link (440) is rotatably coupled to the button portion (420) on one side and rotatably coupled to the catch member (430) on the other side, thereby converting the reciprocating movement of the button portion (420) in the first direction into the swaying movement of the catch member (430) in the first direction.

[0060] In an embodiment of the present invention, a button portion (420), a catch member (430), and a connecting link (440) are provided in pairs, as illustrated in FIGS. 3 and 4. Here, a pair of button portions (420), catch member (430), and connecting link (440) is exemplified in that they are accommodated symmetrically in the second direction in the second coupling casing (410). In addition, a pair of button portions (420) and a pair of catch members (430) are alternately arranged in a + shape on the radially outer side of the second coupling casing (410).

[0061] In one embodiment, the second coupling casing (410) may be configured to include a first guide portion (413) that guides the reciprocating movement of the button portion (420) in the first direction. Here, in the first embodiment of the present invention, the reciprocating movement of the engaging member (430) in the second direction is guided by a second guide portion (415) formed in the first coupling casing (310) of the first coupling module (300), which will be described later, as an example, and a detailed description thereof will be described later.

[0062] According to the above configuration, the operating principle of the second coupling module (400) according to the first embodiment of the present invention will be described with reference to FIGS. 4 and 5.

[0063] First, the button portion (420) is capable of reciprocating in the first direction by the first guide portion (413), and the catch member (430) is capable of reciprocating in the second direction perpendicular to the first direction by the second guide portion (415).

[0064] As shown in (a) of FIG. 4 and (a) of FIG. 5, when the button portion (420) is moved in the first direction while the connecting link (440) is connected to the button portion (420) and the engaging member (430) at a position parallel to the second direction, the axis by which the connecting link (440) and the button portion (420) are rotatably connected also moves in the first direction along with the movement of the button portion (420), and pulls the engaging member (430) rotatably connected to the other side of the connecting link (440) in the second direction, thereby moving the engaging member (430) in the second direction, as shown in (b) of FIG. 4 and (b) of FIG. 5.

[0065] And, when the button part (420) is moved in the opposite direction again, one side of the connecting link (440) moves in the first direction together with the button part (420) by the same principle, and pushes the engaging member (430) coupled to the other side in the second direction, thereby returning to the position shown in (a) of FIG. 4 and (a) of FIG. 5.

[0066] According to the above configuration, the engaging member (430) is engaged and released from the first engaging module (300) by operating the button portion (420) without using separate power, thereby enabling the engaging and releasing of the first engaging module (300) and the second engaging module (400), thereby enabling the slave device (200) to be attached and detached from the master device (100).

[0067] In one embodiment, the button portion (420) according to the first embodiment of the present invention may be configured to include an external pressurizing portion (421), an inner extension portion (422), and an elastic member (423).

[0068] The external pressurizing portion (421) according to an embodiment of the present invention may be exposed to the outside in the first direction of the second coupling casing (410). Then, the external pressurizing portion (421) moves inward by a force from the outside.

[0069] According to an embodiment of the present invention, the inner extension (422) extends in an arc shape from the external pressure member (421) inside the second coupling casing (410) toward the engaging member (430), and can be rotatably coupled with the connecting link (440).

[0070]

[0071] *And, the elastic member (423) elastically presses the external pressurizing member (421) outward along the first direction.

[0072] According to the above configuration, when an external force is applied in the first direction to the external pressurizing portion (421) to release the coupling between the first coupling module (300) and the second coupling module (400), as described above, the coupling between the engaging member (430) and the first coupling module (300) is released, thereby allowing the first coupling module (300) and the second coupling module (400) to be separated.

[0073] And, when the force applied to the external pressurizing member (421) is removed, the external pressurizing member (421) moves to the outside of the second coupling casing (410) by the elastic force of the elastic member (423), and the catching member (430) moves to a position where it can be caught on the first coupling module (300).

[0074] In one embodiment, a button exposure hole (411) may be formed in the second coupling casing (410) according to the first embodiment of the present invention. Here, the external pressure portion (421) is exposed to the outside of the second coupling casing (410) through the button exposure hole (411), so that an external force can be applied to the external pressure portion (421).

[0075] Meanwhile, the second coupling casing (410) according to an embodiment of the present invention may be configured to include a second upper casing (4101) and a second lower casing (4102). Here, the second upper casing (4101) and the second lower casing (4102) are coupled in a vertical direction to support the button portion (420), the connecting link (440), and the engaging member (430).

[0076] FIG. 6 is a drawing showing the bottom surface of the second upper casing (4101) of the second coupling casing (410) of the mechanical automatic tool changer (10) for a robot according to the first embodiment of the present invention.

[0077] Referring to FIG. 6, in the first embodiment of the present invention, a button exposure hole (411) and a first guide portion (413) are formed in a second upper casing (4101) and are combined with a second lower casing (4102) as an example. Here, an extension guide portion (414) for a movement space of the inner extension portion (422) (422) may be formed in the second upper casing (4101).

[0078] Hereinafter, a first coupling module (300) according to a first embodiment of the present invention will be described with reference to FIG. 7.

[0079] As described above, in the mechanical automatic tool changer (10) for a robot according to the first embodiment of the present invention, the first coupling module (300) is installed in the master device (100) and is coupled and decoupled with the second coupling module (400) installed in the slave device (200).

[0080] In one embodiment, the first coupling module (300) may be configured to include a first coupling casing (310) and a pair of catch members (320).

[0081] The first coupling casing (310) according to the embodiment of the present invention can be coupled to the end of the master device (100).

[0082] And, a pair of catch members (320) are arranged on both sides of the first direction inside the first coupling casing (310) to correspond to the catch members (430) of the second coupling module (400). Here, each catch member (320) is caught and released from the catch member (430) according to the reciprocating movement of each catch member (430) in the second direction, thereby enabling the coupling and uncoupling between the first defective module and the second coupling module (400).

[0083] In an embodiment of the present invention, a hook groove (431) that is sunken inwardly into a hook member (430) is formed along a first direction, and a hook and unhook member (320) is inserted and released into the hook groove (431) to perform hooking and unhooking. In one embodiment, the hook member (320) is exemplified as having a cylindrical shape extending in the first direction, but of course, the cross-sectional shape is not limited thereto.

[0084] Meanwhile, a pair of engaging members (430) according to an embodiment of the present invention, as illustrated in FIG. 2, is exemplified by protruding from the upper portion of the second coupling casing (410). Through this, when the first coupling module (300) and the second coupling module (400) are coupled, the pair of engaging members (430) are positioned inside the first coupling casing (310), and can be engaged and released from the engaging step member (320), as illustrated in FIG. 7.

[0085] Here, the second guide portion (415) is formed on the inside of the first coupling casing (310), as shown in FIG. 7, to guide movement of the catch member (430) in the second direction when the first coupling module (300) and the second coupling module (400) are coupled and decoupled.

[0086] Referring again to FIG. 1, a tool holder (500) according to an embodiment of the present invention is configured to include a holder plate (510) and a pair of tool holder slits (520).

[0087] The mounting plate (510) may be supported by a support structure, not shown. In one embodiment, the mounting plate (510) may be supported by a base that is secured to the floor and a plurality of pillars extending upward from the base. In another example, the mounting plate (510) may be fixed to a wall.

[0088] A pair of tool mounting slits (520) protrude forward from the mounting plate (510) and are open at the front while being spaced apart from each other.

[0089] Here, the second coupling module (400) is inserted between a pair of tool mounting slits (520) and supported by the tool mounting slits (520), thereby mounting the slave device (200) coupled with the second coupling module (400) on the tool mounting stand (500).

[0090] In the first embodiment of the present invention, a pair of slit mounting grooves (412) are formed symmetrically on the outer surface of the second coupling casing (410). Here, the slit mounting grooves (412) are formed in the front-back direction, i.e., along the direction in which the second coupling module (400) is inserted into the tool holder (500), in an area where a button exposure hole (411) is formed on the outer surface of the second coupling casing (410).

[0091] And, when the second coupling module (400) is inserted between a pair of tool mounting slits (520), each tool mounting slit (520) is fitted into a slit mounting groove (412), thereby enabling the second coupling module (400) to be mounted.

[0092] In an embodiment of the present invention, when the tool mounting slit (520) is fitted into the slit mounting groove (412), the tool mounting slit (520) pushes the external pressing portion (421) of the button portion (420) inward, so that the external pressing portion (421) moves inward. That is, in the process of inserting the second coupling module (400) between a pair of tool mounting slits (520) so that it is mounted on the tool mounting stand (500), the pair of tool mounting slits (520) each press the external pressing portion (421), so that the engaging member (430) and the engaging jaw member (320) can be released from engagement.

[0093] On the other hand, when the second coupling module (400) moves forward of the tool holder (500) and moves out of the tool holder slit (520), the force pressing the external pressurizing portion (421) disappears, and the external pressurizing portion (421) moves outward by the elastic force of the elastic member (423), and the engaging member (430) and the engaging jaw member (320) are switched to an engaging state.

[0094] According to the above configuration, a process for replacing a slave device (200) in a mechanical automatic tool changer (10) for a robot according to the first embodiment of the present invention is described.

[0095] First, when the slave device (200) is mounted on the tool holder (500) and the slave device (200) is not coupled to the master device (100), the engaging member (430) of the second coupling module (400) mounted on the tool holder (500) is positioned in the engaging release position as described above.

[0096] Here, when the robot operates to position the first defective module coupled to the master device (100) at a coupling position with the second coupling module (400), and then moves the master device (100) toward the front of the tool holder (500), the slave device (200) moves together. For example, as described above, the slave device (200) may be moved according to the movement of the master device (100) by a structure in which a pair of engaging members (430) are inserted into the second guide portion (415) formed in the first coupling casing (310). As another example, it goes without saying that a separate structure capable of engaging the first coupling module (300) and the second defective module may be added.

[0097] As described above, when the master device (100) and the slave device (200) move forward together, when the external pressure member (421) leaves the tool mounting slit (520), the external pressure member (421) moves outward in the first direction by the elastic force of the elastic member (423), thereby moving the engaging member (430) to the engaging position, so that the engaging member (430) is caught on the engaging jaw member (320).

[0098] Accordingly, even if the slave device (200) is completely removed from the tool holder (500), the connection between the first catching module and the second catching module can be maintained by the catching between the catching member (430) and the catching jaw member (320).

[0099] Conversely, the process of removing the slave device (200) coupled to the master device (100) is as follows: simply by placing the slave device (200) on the tool holder (500), the engagement between the engaging member (430) and the engaging jaw member (320) is released, so that the slave device (200) remains placed on the tool holder (500), and only the master device (100) can move.

[0100] Second Example

[0101] Hereinafter, a mechanical automatic tool changer (10a) for a robot according to a second embodiment of the present invention will be described in detail with reference to FIGS. 8 to 10.

[0102] FIG. 8 is a drawing for explaining a mechanical automatic tool changer (10a) for a robot according to a second embodiment of the present invention, FIG. 9 is a cross-sectional view taken along line Ⅸ-Ⅸ of FIG. 8, and FIG. 10 is a cross-sectional view taken along line Ⅹ-Ⅹ of FIG. 8. Here, for convenience of explanation through drawings, FIG. 8 (a) and FIG. 8 (b) are illustrated in a state where one is rotated 90° relative to the other with respect to the coupling direction.

[0103] Referring to FIGS. 8 to 10, in a mechanical automatic tool changer (10a) for a robot according to a second embodiment of the present invention, as an example, unlike the first embodiment, a first coupling module (300a) is installed in a slave device (200), and a second coupling module (400a) is installed in a master device (100).

[0104] Here, the second coupling module (400a) according to the second embodiment of the present invention has a basic configuration corresponding to the first embodiment, except that it is installed in the master device (100). As illustrated in Fig. 9, the second coupling module (400a) may be configured to include a button portion (420a), a catch member (430a), and a connecting link (440a). In addition, the button portion (420a) may be configured to include an external pressurizing portion (421a), an inner extension portion (422a), and an elastic member (423a).

[0105] On the other hand, as an example, a second guide portion (415a) including a button exposure hole (411a) and a first guide portion (413a) according to a second embodiment of the present invention is also formed in the second coupling casing (410a). In addition, as an example, a hooking passage hole that can protrude out of the second coupling casing (410a) when the hooking member (430a) reciprocates in the second direction along the second guide portion (415a) formed in the second coupling casing (410a) is formed in the second coupling casing (410a).

[0106] Here, the catch member (430) is exposed from the inside to the outside of the second coupling casing (410a), as shown in FIG. 9, and a catch passage hole (416a) for the catch member (430) to pass through can be formed in the second coupling casing (410a).

[0107] The operating principle of the second coupling module (400a) according to the above configuration corresponds to the first embodiment, so its description is omitted.

[0108] Meanwhile, the first coupling module (300a) according to the second embodiment of the present invention also corresponds to the configuration of the first embodiment. As described above, in the first coupling module (300a) coupled to the slave device (200), a pair of catching protrusion members (320a) may be installed on each of the second direction sides of the first coupling casing (310a), corresponding to the catching members (430a) of the second coupling module (400a), as illustrated in FIG. 10.

[0109] Here, in the second embodiment of the present invention, the slave device (200) is mounted on the tool holder (500a) so that the first coupling module (300a) can be mounted on the tool holder (500a). In addition, a button passage hole (311a) through which the external pressure portion (421a) located on the second coupling module (400a) passes may be formed in the first coupling casing (310a) so that when the first coupling module (300a) and the second coupling module (400a) are coupled, the external pressure portion (421a) located on the second coupling module (400a) is exposed to the outside of the first coupling casing (310a).

[0110] According to this configuration, similarly to the first embodiment, the external pressurizing portion (421a) exposed to the outside through the button passage hole (311a) of the second coupling casing (410a) is pressed by the tool holder (500a) and moves inward when the first coupling module (300a) is mounted on the tool holder (500a).

[0111] Here, unlike the first embodiment, in the second embodiment of the present invention, a pair of slit mounting grooves (312a) may be formed on the outer surface of the first coupling casing (310a). In the area where the pair of button passage holes (311a) are formed on the outer surface of the first coupling casing (310a), a pair of slit mounting grooves (312a) are formed along the front-back direction, into which each tool mounting slit (520a) is fitted when the first coupling module (300a) is inserted between the pair of tool mounting slits (520a).

[0112] Accordingly, when the tool mounting slit (520a) is fitted into the slit mounting groove (412a), the tool mounting slit (520a) presses the external pressing portion (421a) inward, causing the external pressing portion (421a) to move inward, thereby releasing the engaging member (430a) and the engaging jaw member (320a).

[0113] At this time, when the external pressurizing portion (421a) moves inward by the tool mounting slit (520a), it detaches inward from the button passage hole (311a) of the first coupling casing (310a), so that when the first coupling module (300a) and the second coupling module (400a) are separated, it can detach from the first coupling module (300a) together with the second coupling module (400a).

[0114] Here, the area where the button passage hole (311a) and the external pressurizing portion (421a) come into contact can be configured to have an inclined surface so that when the first coupling module (300a) and the second coupling module (400a) are coupled, the external pressurizing portion (421a) can be easily inserted into the button passage hole (311a) along the inclined surface of the button passage hole (311a).

[0115] Meanwhile, the first coupling casing (310a) of the first coupling module (300a) and the second coupling casing (410a) of the second coupling module (400a) according to the embodiment of the present invention are exemplified as having a ring shape with the inside open vertically. In addition, the inner extension portion (422a) of the button portion (420a) extends in an arc shape as described above, so that it can extend in an arc shape along the inside of the ring-shaped second coupling casing (410a) or the first coupling casing (310a) toward the engaging member (430a).

[0116] As described above, since the first coupling casing (310a) and the second coupling casing (410a) have a ring shape that is open vertically, various configurations for transmitting power from the master device (100) to the slave device (200) can be connected or extended from the master device (100) to the slave device (200) through the internal space of the first coupling casing (310a) and the second coupling casing (410a).

[0117] In one embodiment, the present invention provides an example of transmitting driving force for driving a tool from a master device (100) to a slave device (200) without installing a separate actuator in the slave device (200), and in one embodiment, an example of transmitting driving force through a magnetic coupling.

[0118] For example, as shown in FIG. 2, a slave magnet (620) is installed in the inner space of the second coupling module (400a), and as shown in FIG. 7, a master magnet (610) is installed in the inner space of the first coupling module (300a), so that the rotational force of the master magnet (610) is transmitted to the slave magnet (620), enabling transmission of driving force without installing a separate actuator in the slave device (200).

[0119] Meanwhile, in the above-described embodiment, as shown in (aa) of FIG. 11, the catch member (320a) has a cylindrical bar shape, and a catch groove (431a) is formed in the catch member (430a).

[0120] In addition, the engagement and release between the engaging member (320a) and the engaging member (430a) can have various shapes as shown in (ba) and (ca) of Fig. 11. Here, the engagement and release structure between the engaging member (320a) and the engaging member (430a) can be formed in various ways by implementing a structure that engages in the engagement release direction (arrow a) shown in Fig. 11.

[0121] Although certain embodiments of the present invention have been illustrated and described, it will be apparent to those skilled in the art that modifications may be made to the embodiments without departing from the spirit or scope of the invention. The scope of the invention is defined by the appended claims and their equivalents.

[0122] [Explanation of symbols]

[0123] 10: Mechanical automatic tool changer for robots

[0124] 100: Master Device

[0125] 200: Slave device 300: First coupling module

[0126] 310: First coupling housing 320: Hook member

[0127] 400: Second coupling module 410: Second coupling housing

[0128] 4101: Second upper housing 4102: Second lower housing

[0129] 411: Button exposure hole 412: Slit mounting hole

[0130] 413: First guide section 414: Extension guide section

[0131] 415: Second guide section 420: Button section

[0132] 421: External pressurized portion 422: Internal extension portion

[0133] 423: Elastic member 430: Hook member

[0134] 431: Hook groove 440: Connecting link

[0135] 500: Tool holder 510: Holder plate

[0136] 520: Tool mounting slit 610: Master magnet

[0137] 620: Slave Magnet

[0138] The present invention is applied to the field of a mechanical automatic tool changer for a robot that is mounted at the end of the robot and can automatically change various tools to perform work.

Claims

A master device that is connected to the end of the robot, A slave device with a tool attached to one side, A first coupling module provided on one of the other end of the master device and the other end of the slave device, A second coupling module is provided on the other end of the master device and the other end of the slave device, and is detachably coupled to the first coupling module to couple and uncouple the master device and the slave device; The above second coupling module A button portion that can be reciprocated along a first direction on a coupling plane that is perpendicular to the coupling direction of the first coupling module and the second coupling module, A catching member that moves back and forth along a second direction perpendicular to the first direction on the above-mentioned bonding plane to catch and release the catching member from the first bonding module so that the first defective module and the second bonding module can be detached; A mechanical automatic tool changer for a robot, characterized in that it includes a connecting link, one side of which is rotatably connected to the button portion and the other side of which is rotatably connected to the catch member, and which converts the reciprocating movement of the button portion in the first direction into the reciprocating movement of the catch member in the second direction. In the first paragraph, The second coupling module further includes a second coupling housing in which the button portion, the engaging member and the connecting link are accommodated; A mechanical automatic tool changer for a robot, characterized in that the button portion, the catch member, and the connecting link are provided in pairs and are accommodated symmetrically with respect to the second direction in the second coupling housing. In the second paragraph, A mechanical automatic tool changer for a robot, characterized in that the second coupling housing includes a first guide portion that guides the reciprocating movement of the button portion in the first direction. In the second paragraph, A mechanical automatic tool changer for a robot, characterized in that a pair of the above button portions and a pair of the above catch members are alternately arranged in a + shape on the radially outer side of the second coupling housing. In paragraph 4, The above button part An external pressurized portion that is exposed to the outside of the first direction of the second combination housing and moves inward by an external force; An inner extension portion extending from the external pressurizing portion in an arc shape toward the engaging member inside the second coupling housing and rotatably coupled with the connecting link; The external pressurizing member includes an elastic member that elastically presses the external pressurizing member outward along the first direction; A mechanical automatic tool changer for a robot, characterized in that when the external pressurizing member moves inward by an external force, the engagement between the engaging member and the first coupling module is released, and when the external pressurizing member moves outward by the elastic force of the elastic member, the engaging member is caught on the first defective module. In paragraph 5, The above first coupling module The above first coupling housing, A mechanical automatic tool changer for a robot, characterized in that it includes a pair of catching jaw members arranged corresponding to each of the catching members on both sides of the first direction inside the first coupling housing, and catching and releasing the catching members according to the reciprocating movement of the catching members. In paragraph 6, The first coupling module is provided in the master device, and the second coupling module is provided in the slave device; A mechanical automatic tool changer for a robot, characterized in that a button exposure hole is formed in the second coupling housing to expose the external pressurized portion to the outside. In paragraph 7, Further comprising a tool holder for mounting the slave device; The slave device is mounted on the tool holder by the second coupling module being mounted on the tool holder; A mechanical automatic tool changer for a robot, characterized in that the external pressurizing portion is pressed by the tool holder and moves inward when the second coupling module is placed on the tool holder. In paragraph 8, The above tool holder is, With a mounting plate, A pair of tool mounting slits protruding forward from the mounting plate but spaced apart from each other; The second coupling module is inserted between a pair of the tool mounting slits and mounted on the tool mounting plate; In the area where the pair of button exposure holes are formed on the outer surface of the second coupling housing, a slit mounting groove is formed along the front-back direction, into which each of the tool mounting slits is fitted so that the second coupling module can be mounted when the second coupling module is inserted between the pair of tool mounting slits; A mechanical automatic tool changer for a robot, characterized in that when the tool mounting slit is fitted into the slit mounting groove, the tool mounting slit presses the external pressurizing part inward, thereby moving the external pressurizing part inward. In paragraph 8, A mechanical automatic tool changer for a robot, characterized in that a second guide part is formed in the first coupling housing to guide the reciprocating movement of the engaging member in the second direction when the first coupling module and the second coupling module are coupled. In paragraph 6, The first coupling module is provided in the slave device, and the second coupling module is provided in the master device; A mechanical automatic tool changer for a robot, characterized in that a button passage hole is formed in the first coupling housing so that the external pressure part located in the second coupling module is exposed to the outside of the first coupling housing when the first coupling module and the second coupling module are coupled. In Article 11, Further comprising a tool holder for mounting the slave device; The slave device is mounted on the tool holder by the first coupling module being mounted on the tool holder; A mechanical automatic tool changer for a robot, characterized in that the external pressurizing portion exposed to the outside through the button passage hole of the first coupling housing is pressed by the tool holder and moves inward when the first coupling module is mounted on the tool holder. In Article 12, The above tool holder is, With a mounting plate, A pair of tool mounting slits protruding forward from the mounting plate but spaced apart from each other; The above first coupling module is inserted between a pair of the above tool mounting slits and mounted on the tool mounting; In the area where the pair of button passage holes are formed on the outer surface of the first coupling housing, a slit mounting groove is formed along the front-back direction, into which each of the tool mounting slits is fitted so that the first coupling module can be mounted when the first coupling module is inserted between the pair of tool mounting slits; A mechanical automatic tool changer for a robot, characterized in that when the tool mounting slit is fitted into the slit mounting groove, the tool mounting slit presses the external pressurizing part inward, thereby moving the external pressurizing part inward. In Article 13, A mechanical automatic tool changer for a robot, characterized in that the external pressurizing portion moves inward through the tool mounting slit and is detached inward from the button passage hole of the first coupling housing, thereby enabling separation of the first coupling module and the second coupling module. In Article 11, A mechanical automatic tool changer for a robot, characterized in that a second guide portion is formed in the second coupling housing to guide the reciprocating movement of the engaging member in the second direction.

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