Adapter for automatic tool changer and automatic tool changer

Abstract

Provided is an adapter for an automatic tool changing device and an automatic tool changing device, with which it is possible to avoid connection failure between flow passage components even if positional deviation occurs between a robot arm and a robot tool. An adapter 26 for an automatic tool changer comprises: a housing 36a joined to either a robot arm or a robot tool, and linked to a mating adapter 27 joined to the other of the robot arm and the robot tool; a block 61 supported by the housing 36a so as to be relatively displaceable with respect to the housing 36a, and supporting a second flow passage component 68 connected to a first flow passage component 56 supported by the mating adapter 27 and guiding a flow of a substance; and a driving body 71 applying, to the block 61, a force for fixing the block 61 in a position determined by the mating adapter 27 when the housing 36a is joined to the mating adapter 27.

Description

Adapter for Automatic Tool Changer and Automatic Tool Changer

[0001] The present invention relates to an adapter coupled to a robot arm or a robot tool by an automatic tool changer and an automatic tool changer.

[0002] Patent Document 1 and Patent Document 2 disclose an automatic tool changer. The automatic tool changer releasably couples a robot tool to the free end of a robot arm. Adapters are respectively coupled to the robot arm and the robot tool. The adapters are detachably coupled to each other. When the adapters are coupled to each other, the terminals incorporated in the individual adapters are connected. According to the connection of the terminals, a path (flow path) for a control signal is established between the robot arm and the robot tool. A control signal is supplied from the robot arm to the robot tool.

[0003] Japanese Patent Application Laid-Open No. 2023-175535, Patent No. 6422386

[0004] When the robot operates, an inertial force acts on the robot tool according to its movement, so a displacement occurs between the adapter on the robot arm side and the adapter on the robot tool side. According to the displacement between the adapters, the conductive terminals (flow path components) constituting the path for the control signal are relatively displaced. The relative displacement between the conductive terminals causes wear of the conductive terminals. The wear hinders the conduction of the control signal.

[0005] An object of the present invention is to provide an adapter for an automatic tool changer and an automatic tool changer that avoid poor connection between flow path components even when a displacement occurs between a robot arm and a robot tool.

[0006] An adapter for an automatic tool changer according to one embodiment of the present invention comprises: a housing that is coupled to either a robot arm or a robot tool and connected to a mating adapter that is coupled to the other of the robot arm or robot tool; a block that is supported by the housing so as to be displaceable relative to the housing and supports a second flow path component that is supported by the mating adapter and connected to a first flow path component that guides the flow of material; and a drive body that acts a force on the block to fix the block at a predetermined position on the mating adapter when the housing is coupled to the mating adapter.

[0007] An automatic tool changer according to another embodiment of the present invention comprises an adapter for the above-mentioned automatic tool changer.

[0008] As described above, according to the form of disclosure, an adapter for an automatic tool changer and an automatic tool changer are provided that avoid connection failures between flow path components even if a misalignment occurs between the robot arm and the robot tool.

[0009] This is a schematic diagram showing the configuration of a robot according to an embodiment of the present invention. This is an enlarged perspective view showing the configuration of an automatic tool changer. This is an enlarged cross-sectional view along line 3-3 in Figure 2. This is an exploded perspective view of the first servo module and the second servo module. This is an enlarged perspective view showing a coil spring mounted on a block. This is an enlarged perspective view showing the space housing the block. This is an enlarged perspective view of the block and the restraint member. This is a cross-sectional view of the first servo module released from connection with the second servo module. This is a conceptual diagram showing a positioning pin fixed to the block of the first servo module. This is an enlarged perspective view showing the structure of the first terminal pin. This is an enlarged perspective view showing the structure of the second terminal pin.

[0010] One embodiment of the present invention will be described below with reference to the attached drawings.

[0011] Figure 1 schematically shows the configuration of a robot 11 according to an embodiment of the present invention. The robot 11 comprises a base 13 fixed to a fixed surface 12, such as a floor, and a robot arm 15 rotatably connected to the base 13 around a first joint 14. The first joint 14 allows the robot arm 15 to rotate around a horizontal axis. The rotation of the robot arm 15 is realized based on the driving force of a built-in electric motor. A robot tool 16 is attached to the tip of the robot arm 15.

[0012] The robot arm 15 comprises a first link 19, a second link 21, and a third link 22, which are connected in order by a second joint 17 and a third joint 18. The first link 19 and the second link 21 are formed of two members that rotate relative to each other around axes 23 and 24 at an intermediate position. When the two members rotate relative to each other at the first link 19, the orientation of the second link 21 can be changed around axis 23. When the two members rotate relative to each other at the second link 21, the orientation of the third link 22 can be changed around axis 24. Axes 23 and 24 define the longitudinal directions of the links 19 and 21.

[0013] The second joint 17 allows the second link 21 to rotate relative to the first link 19 around a horizontal axis perpendicular to the axis 23 of the first link 19. The rotational movement of the second link 21 is realized based on the driving force of a built-in electric motor. The third joint 18 allows the third link 22 to rotate relative to the second link 21 around a rotation axis perpendicular to the axis 24 of the second link 21. The rotational movement of the third link 22 is realized based on the driving force of a built-in electric motor.

[0014] The automatic tool changer 25 is positioned between the tip of the third link 22 and the robot tool 16. The automatic tool changer 25 comprises a robot adapter 26 that is coupled to the free end of the robot arm 15 and a tool adapter 27 that is coupled to the robot tool 16. The robot adapter 26 has a coupling surface 29 that is perpendicular to the axis 28 of the third link 22. The tool adapter 27 is detachably coupled to the coupling surface 29 of the robot adapter 26. By coupling the tool adapter 27 to the robot adapter 26, the robot tool 16 is fixed to the robot arm 15.

[0015] The robot adapter 26 is connected to a power line 31 and a control line 32 extending from the robot arm 15. Power is supplied to the robot adapter 26 from the power line 31. Similarly, control signals are supplied to the robot adapter 26 from the control line 32.

[0016] The tool adapter 27 is connected to a power line 33 and a control line 34 that connect to the robot tool 16. The power line 33 supplies power from the tool adapter 27 to the robot tool 16. Similarly, the control line 34 supplies control signals from the tool adapter 27 to the robot tool 16. When the tool adapter 27 is connected to the robot adapter 26, the power line 31 of the robot arm 15 is connected to the power line 33 of the robot tool 16. Power is supplied from the robot arm 15 to the robot tool 16 via the two adapters 26 and 27. Similarly, the control line 32 of the robot arm 15 is connected to the control line 34 of the robot tool 16. Control signals are supplied from the robot arm 15 to the robot tool 16 via the two adapters 26 and 27.

[0017] As shown in Figure 2, the robot adapter 26 comprises a first adapter body 35 connected to the robot arm 15 and a first servo module 36 connected to the first adapter body 35. The first servo module 36 has a housing 36a fixed to the module connection surface 35a of the first adapter body 35. A first external connector 37 for receiving power lines 31 extending from the robot arm 15 and a second external connector 38 for receiving control lines 32 extending from the robot arm 15 are fixed to the housing 36a. Terminal pins (male terminals) 37a are arranged on the first external connector 37 to be inserted into the female terminals of the connector for the power lines 31 to establish conductivity. Terminal pins (male terminals) are arranged on the second external connector 38 to be inserted into the female terminals of the connector for the control lines 32 to establish conductivity.

[0018] The tool adapter 27 comprises a second adapter body 41 connected to the robot tool 16 and a second servo module 42 connected to the second adapter body 41. The second adapter body 41 is placed on top of the first adapter body 35 from below. When the second adapter body 41 is placed on top of the first adapter body 35, a coupling mechanism is activated between the second adapter body 41 and the first adapter body 35. The coupling mechanism maintains the connection between the first adapter body 35 and the second adapter body 41, for example, by the action of air pressure. When the operation of the coupling mechanism is released, the second adapter body 41 is separated from the first adapter body 35. In order to achieve this coupling and separation, a clearance is set between the first adapter body 35 and the second adapter body 41 to allow for relative displacement between them.

[0019] The second servo module 42 has a housing 42a fixed to the module connecting surface 41a of the second adapter body 41. A third external connector 43 that receives the power line 33 connected to the robot tool 16 and a fourth external connector 44 that receives the control line 34 connected to the robot tool 16 are fixed to the housing 42a. The third external connector 43 has female terminals 43a arranged to receive the male terminal of the connector for the power line 33 and establish conductivity. The fourth external connector 44 has female terminals arranged to receive the male terminal of the connector for the control line 34 and establish conductivity.

[0020] As shown in Figure 3, the first servo module 36 is stacked on top of the second servo module 42. The housing 42a of the second servo module 42 is provided with a receiving surface 51 that receives the connecting surface 29 of the first servo module 36. A stationary block 52 is embedded in the receiving surface 51. The stationary block 52 is fitted into an opening 53 formed in the housing 42a. The opening 53 is formed by a first cylindrical hole 53a that opens at the receiving surface 51 and has a central axis perpendicular to the receiving surface 51, and a second cylindrical hole 53b that is coaxial with the first cylindrical hole 53a, continuous with the first cylindrical hole 53a, and has a larger diameter than the first cylindrical hole 53a.

[0021] The immovable block 52 comprises a first cylindrical body 52a of a first diameter that is inserted into a first cylindrical hole 53a of the opening 53, and a second cylindrical body 52b of a second diameter that is connected to the first cylindrical body 52a coaxially and inserted into a second cylindrical hole 53b. The second diameter is larger than the first diameter. The second cylindrical body 52b abuts axially against a step 54 that connects the first cylindrical hole 53a to the second cylindrical hole 53b. In this way, the end face of the first cylindrical body 52a is positioned relative to the receiving surface 51. The end face of the first cylindrical body 52a retracts from the receiving surface 51 by a predetermined distance, forming a recess in the receiving surface 51. The end face of the first cylindrical body 52a is exposed in the recess. The immovable block 52 is formed from, for example, an insulator.

[0022] A sealing member 55 is attached to the outer circumference of the first cylindrical body 52a. The sealing member 55 is sandwiched between the outer circumference of the first cylindrical body 52a and the housing 42a that surrounds the first cylindrical hole 53a. The sealing member 55 prevents the flow of water and other fluids and dust.

[0023] The immovable block 52 supports first terminal pins (first flow path components) 56 that guide the flow of matter (in this case, control signals, i.e., electrons). Here, the first terminal pins 56 are configured as a group of terminals arranged in a predetermined configuration. Each first terminal pin 56 has an axis perpendicular to the receiving surface 51. The first terminal pins 56 are formed from a conductor. For support, the immovable block 52 has through holes 57 that individually receive each first terminal pin 56. The first terminal pins 56 are inserted into and fixed in the corresponding through holes 57. The first terminal pins 56 may be selectively inserted into through holes 57 arranged in a predetermined configuration.

[0024] As shown in Figure 4, a sealing member 58 surrounding the first cylindrical hole 53a is embedded in the receiving surface 51. The sealing member 58 is sandwiched between the receiving surface 51 and the connecting surface 29 of the first servo module 36 that is received by the receiving surface 51. The sealing member 58 prevents the flow of water, other fluids, and dust.

[0025] The housing 36a of the first servo module 36 incorporates a block 61 that is connected to and fixed to the immovable block 52. When incorporating the block 61, a space 62 is formed in the housing 36a that opens at the connecting surface 29. The block 61 is placed within the space 62. The block 61 comprises a first cylindrical body 61a with a first diameter that is coupled to the immovable block 52 at its end face, and a second cylindrical body 61b that is coaxially connected to the first cylindrical body 61a and has a second diameter larger than the first diameter. A step 63 is formed between the outer circumference of the first cylindrical body 61a and the outer circumference of the second cylindrical body 61b.

[0026] An auxiliary block 64 is fitted into block 61. For fitting, block 61 has a first cylindrical hole 65a that forms a cylindrical space facing the second servo module 42, and a second cylindrical hole 65b that is coaxial with the first cylindrical hole 65a and continuous with the first cylindrical hole 65a, and has a larger diameter than the first cylindrical hole 65a. The auxiliary block 64 comprises a first body 64a that is inserted into the first cylindrical hole 65a and has an outer circumference of a first diameter, and a second body 64b that is coaxially connected to the first body 64a and is inserted into the second cylindrical hole 65b. The second body 64b has an outer circumference of a second diameter which is larger than the first diameter. The second body 64b abuts axially against a step 66 that connects the first cylindrical hole 65a to the second cylindrical hole 65b. In this way, the end face of the first body 64a is positioned relative to block 61. The auxiliary block 64 is formed from, for example, an insulator.

[0027] A sealing member 67 is attached to the outer circumference of the first body 64a. The sealing member 67 is sandwiched between the outer circumference of the first body 64a and the block 61 surrounding the first cylindrical hole 65a. The sealing member 67 prevents the flow of water and other fluids and dust.

[0028] The auxiliary block 64 supports second terminal pins (second flow path components) 68, which are individually connected to the first terminal pins 56 of the immovable block 52. The second terminal pins 68 are arranged according to the arrangement of the first terminal pins 56. Each second terminal pin 68 has an axis perpendicular to the connecting surface 29. The second terminal pins 68 are formed from a conductor. For support, the auxiliary block 64 has through holes 69 that individually receive each second terminal pin 68. The second terminal pins 68 are inserted into and fixed in the corresponding through holes 69. The second terminal pins 68 may be selectively inserted into through holes 69 arranged in a predetermined configuration.

[0029] A drive unit 71, supported by the housing 36a, is connected to the block 61 and exerts a driving force acting on the block 61. The driving force of the drive unit 71 fixes the block 61 in a predetermined position on the second servo module 42. The block 61 is connected to the housing 36a by the drive unit 71 alone. The drive unit 71 is, for example, an elastic body and presses the block 61 against the receiving surface 51 of the second servo module 42. The elastic body allows relative displacement of the housing 36a with respect to the block 61 according to its elastic deformation.

[0030] Here, as shown in Figure 5, multiple coil springs 71a are used in the drive unit 71. Each coil spring 71a forms a spiral around an axis parallel to the central axis 72 of the block 61. A dead hole 73 is formed in the block 61 to receive one end of the coil spring 71a. The dead hole 73 restrains the displacement of the coil spring 71a in a direction perpendicular to the central axis 72 of the block 61. As shown in Figure 6, a dead hole 74 is formed in the housing 36a to receive the other end of the coil spring 71a. The dead hole 74 restrains the displacement of the coil spring 71a in a direction perpendicular to the central axis 72 of the block 61. The coil springs 71a are arranged at equal intervals around the central axis 72 of the block 61. For example, six coil springs 71a may be arranged.

[0031] As shown in Figure 5, a rod 75 is fixed to the block 61 at a position offset from the coil spring 71a around the central axis 72. The rod 75 is formed as a cylindrical body with an axis parallel to the central axis 72. As shown in Figure 6, an opening 70 is formed in the housing 36a to define a space that accepts the entry of the rod 75 without contact. The opening 70 is partitioned by a circular contour with a diameter larger than that of the rod 75. Even if the block 61 is displaced in the vertical, horizontal, or diagonal directions relative to the housing 36a in accordance with the action of the coil spring 71a, interference between the rod 75 and the housing 36a is avoided within the opening 70. The orientation of the block 61 is set around the central axis 72 when the rod 75 enters the opening 70. Installation of the block 61 in any orientation other than that determined around the central axis 72 is prevented.

[0032] A restraining member 76 is fixed to the housing 36a of the first servo module 36, forming a connecting surface 29 surrounding the block 61. The restraining member 76 is received by an annular step 77 formed in the housing 36a around the block 61. Screws 78 are used for fixing. Each screw 78 is screwed into a screw hole 79 drilled in the step 77. The screws 78 are arranged at equal intervals around the central axis of the step 77. For example, six screws 78 may be arranged. A sealing member 80 is sandwiched between the housing 36a and the restraining member 76 in the step 77. The sealing member 80 prevents the flow of water and other fluids and dust. As shown in Figure 7, the restraining member 76 consists of a main body 76a fixed to the step 77 with screws 78, and a decorative plate 76b that is superimposed on the main body 76a from the outside to hide the screws 78.

[0033] As shown in Figure 8, when the block 61 is released from its axial restraint from the receiving surface 51, the step 63 of the block 61 is received by the restraining member 76. The coil spring 71a presses the block 61 against the restraining member 76. The first cylindrical body 61a of the block 61 protrudes from the connecting surface 29. The block 61 is positioned at a predetermined position relative to the connecting surface 29. When the second servo module 42 is coupled to the first servo module 36, the second terminal pin 68 is well positioned relative to the corresponding first terminal pin 56. The restraining member 76 sandwiches a sealing member 58 between itself and the receiving surface 51.

[0034] As shown in Figure 4, the block 61 has a fixing surface 81 that is superimposed on the receiving surface 51 of the second servo module 42. Two positioning pins 82 are fixed to the fixing surface 81, extending upright from the fixing surface 81. As shown in Figure 9, the positioning pins 82 are formed as cylindrical bodies 82a having an axis parallel to the central axis 72 of the block 61. A conical tapered body 82b is integrally formed at the tip of the cylindrical body 82a, tapering from the cylindrical body 82a. A predetermined positional relationship is established between the positioning pins 82 and the second terminal pin 68. When the block 61 is installed, the rod body 75 enters the opening 70, setting the position of the positioning pins 82 relative to the housing 36a.

[0035] A receiving hole 83 is formed in the receiving surface 51 of the second servo module 42, perpendicular to the receiving surface 51. A positioning pin 82 is inserted into the receiving hole 83. The receiving hole 83 positions the block 61 at a predetermined position parallel to the receiving surface 51. The positional relationship between the receiving hole 83 and the first terminal pin 56 reflects the positional relationship between the positioning pin 82 and the second terminal pin 68. When each positioning pin 82 is inserted into its corresponding receiving hole 83, the second terminal pin 68 is connected to the corresponding first terminal pin 56. The cylindrical body 82a of the positioning pin 82 prevents relative displacement (looseness) between the receiving surface 51 and the block 61 in a direction parallel to the receiving surface 51.

[0036] As shown in Figure 10, the first terminal pin 56 comprises a shaft 56a inserted into a through hole 57 of the immovable block 52, and a crown-shaped tip 56b fixed to the tip of the shaft 56a. The tip 56b has four vertices 85 formed on it, divided by a cross-shaped cut line 84 in a plane perpendicular to the axis of the shaft 56a. Each vertex 85 is separated by two planes that intersect in a V-shape by the cut line 84. Edges are formed at each vertex 85 according to the intersection of the planes. The tip 56b may be supported on the shaft 56a so as to be displaceable in the axial direction of the shaft 56a.

[0037] As shown in Figure 11, the second terminal pin 68 comprises a shaft 68a inserted into a through hole 69 of the auxiliary block 64, and a crown-shaped tip 68b fixed to the tip of the shaft 68a. The tip 68b has nine vertices 87 formed on it, divided by two first notches 86a and two second notches 86b that intersect at right angles in a plane perpendicular to the axis of the shaft 68a. The spacing between the first notches 86a and the spacing between the second notches 86b are set to be equal. Each vertex 87 is separated by two planes that intersect in a V-shape by the first notches 86a and the second notches 86b, respectively. Edges are formed at each vertex 87 according to the intersection of the planes. Each vertex 87 engages with the vertex 85 of the first terminal pin 56. The vertex 87 guides the vertex 85 of the first terminal pin 56 to the first notch 86a and the second notch 86b. As shown in Figure 3, each second terminal pin 68 is connected to the corresponding terminal pin in the second external connector 38 by flexible wiring 88. Even if the second terminal pin 68 is displaced relative to the housing 36a, disconnection between the second terminal pin 68 and the second external connector 38 is avoided.

[0038] Next, the operation of the automatic tool changer 25 will be explained. A robot tool 16 is attached to the free end of the robot arm 15 according to the function of the robot 11. The robot tool 16 is changed for each function. When changing the robot tool 16, the robot adapter 26 of the automatic tool changer 25 is fixed to the free end of the robot arm 15. The tool adapter 27 of the automatic tool changer 25 is fixed to the robot tool 16. When the robot adapter 26 is connected to the tool adapter 27, the robot tool 16 is attached to the robot arm 15.

[0039] When the first adapter body 35 of the robot adapter 26 is positioned on the second adapter body 41 of the tool adapter 27, the first servo module 36 is aligned with the second servo module 42. The connecting surface 29 of the restraining member 76 is aligned with the receiving surface 51 of the second servo module 42. The connecting surface 29 and the receiving surface 51 are set parallel to, for example, a horizontal plane. The annular connecting surface 29 is aligned coaxially with the sealing member 58 on the receiving surface 51. The positioning pin 82 of the block 61 is aligned coaxially with the receiving hole 83 of the receiving surface 51.

[0040] Prior to connection, in the first servo module 36, the restraining member 76 is supported by a step 77 around the block 61. The force acting from the drive unit 71 on the block 61 is supported by the restraining member 76 instead of the second servo module 42. The block 61 is fixed to the restraining member 76 instead of the housing 42a of the second servo module 42. The block 61 is positioned at a predetermined position relative to the housing 36a. When the housing 36a of the first servo module 36 is aligned with the second servo module 42, the block 61 is aligned to a predetermined position on the receiving surface 51.

[0041] Prior to contact between the connecting surface 29 of the first servo module 36 and the receiving surface 51 of the second servo module 42, the end face of the block 61 is placed on the receiving surface 51. The positioning pin 82 enters the receiving hole 83. When the cylindrical body 82a of the positioning pin 82 is inserted into the receiving hole 83, the block 61 is fixed in a predetermined position on the receiving surface 51.

[0042] Here, the second terminal pin 68 of the first servo module 36 is connected to the first terminal pin 56 of the second servo module 42. The tip 68b of the second terminal pin 68 is fixed to the tip 56b of the first terminal pin 56. The vertex 87 of the second terminal pin 68 engages with the vertex 85 of the first terminal pin 56. A path (flow channel) for control signals is established between the robot arm 15 and the robot tool 16 in accordance with the connection of the second terminal pin 68 and the first terminal pin 56. Control signals are supplied from the robot arm 15 to the robot tool 16.

[0043] After that, even when the connecting surface 29 approaches the receiving surface 51 of the second servo module 42, the fixing of the block 61 is maintained. The helical spring 71a is gradually crushed, and elastic force accumulates in the helical spring 71a. The force for fixing the block 61 at a determined position of the receiving surface 51 continues to act on the block 61 from the helical spring 71a. As shown in FIG. 9, the step 63 of the block 61 is separated from the restraining member 76 by an interval sp.

[0044] When the robot 11 operates, an inertial force acts on the robot tool 16 according to its movement, so a displacement occurs between the robot adapter 26 on the robot arm 15 side and the tool adapter 27 on the robot tool 16 side. A displacement occurs between the housing 36a of the first servo module 36 and the housing 42a of the second servo module 42 according to the displacement between the first adapter body 35 and the second adapter body 41. At this time, since the block 61 is relatively displaceable with respect to the housing 36a, even if a displacement occurs in the vertical direction, horizontal direction, or diagonal direction between the robot adapter 26 and the tool adapter 27 due to the operation of the robot tool 16, the behavior of the block 61 is separated from the behavior of the housing 36a. Even when the housing 36a of the first servo module 36 is relatively displaced with respect to the housing 42a of the second servo module 42, the block 61 is maintained at a determined position of the receiving surface 51. Relative displacement is avoided between the second terminal pin 68 and the first terminal pin 56 that are interconnected. Wear of the first terminal pin 56 and the second terminal pin 68 is prevented. A connection failure between the first terminal pin 56 and the second terminal pin 68 is preferably avoided.

[0045] In this embodiment, the first terminal pin 56 is a first conductor (first flow channel component) having a crown-shaped tip, while the second terminal pin 68 is a second conductor (second flow channel component) having a crown-shaped tip that engages with the crown-shaped tip of the first terminal pin 56. Good contact is established between the first terminal pin 56 and the second terminal pin 68 by connecting their crown-shaped tips. Pins and sockets may be used for the first and second conductors. In addition, the combination of the immovable block 52 and the block 61 may be used to connect a first flow channel component, such as a hose or pipe that guides the flow of a fluid such as a gas or liquid, to a second flow channel component.

[0046] The positioning pin 82 according to this embodiment comprises a cylindrical body 82a that is fitted into the receiving hole 83 and prevents relative displacement of the block 61 parallel to the receiving surface (joint surface) 51, and a conical tapered body 82b established at the tip of the cylindrical body 82a and tapering away from the cylindrical body 82a. Since the tip of the tapered body 82b is smaller than the diameter of the receiving hole 83, the tapered body 82b enters the receiving hole 83 without any problems. The tapered body 82b guides the cylindrical body 82a to the receiving hole 83. In this way, the cylindrical body 82a is fitted into the receiving hole 83 well. The cylindrical body 82a prevents relative displacement of the block 61 parallel to the receiving surface 51.

[0047] 15 Robot arm 16 Robot tool 25 Automatic tool changer 26 Adapter for automatic tool changer (robot adapter) 27 Mating adapter (tool adapter) 36 First servo module 42 Second servo module 56 First flow path component (first terminal pin) 68 Second flow path component (second terminal pin) 71 Drive unit 71a Spring (wound spring) 82 Pin (positioning pin) 82a Cylindrical body 82b Tapered body 83 Hole (receiving hole)

Claims

1. An adapter for an automatic tool changer, comprising: a housing that is coupled to either a robot arm or a robot tool and connected to a mating adapter that is coupled to the other of the robot arm or robot tool; a block that is supported by the housing so as to be displaceable relative to the housing and supports a second flow path component that is supported by the mating adapter and connected to a first flow path component that guides the flow of material; and a drive body that acts on the block to fix the block at a predetermined position on the mating adapter when the housing is coupled to the mating adapter.

2. The adapter for an automatic tool changer according to claim 1, further comprising a restraining member fixed to the housing and receiving the block which is driven by the drive unit when the coupling between the housing and the mating adapter is released.

3. The adapter for an automatic tool changer according to claim 1, wherein the second flow channel structure is connected to a first conductor supported by the mating adapter and is a second conductor that guides the flow of electrons as the material.

4. The adapter for an automatic tool changer according to claim 3, wherein the second conductor has a crown-shaped tip that engages with a crown-shaped tip formed on the first conductor.

5. The adapter for an automatic tool changer according to claim 1, wherein the drive body is an elastic body that exerts a driving force to press the block against the coupling surface of the mating adapter.

6. The adapter for an automatic tool changer according to claim 5, wherein the elastic body is a plurality of springs.

7. The adapter for an automatic tool changer according to claim 1, comprising a pin inserted into a hole perpendicular to the coupling surface of the mating adapter, which positions the block parallel to the coupling surface at the predetermined position.

8. The adapter for an automatic tool changer according to claim 7, wherein the pin comprises a cylindrical body that is fitted into the hole and prevents relative displacement of the block parallel to the coupling surface with respect to the coupling surface, and a conical tapered body established at the tip of the cylindrical body and tapering away from the cylindrical body.

9. An automatic tool changer comprising the adapter for the automatic tool changer described in claim 1 and the mating adapter.

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