Automatic tool exchange device

Abstract

Provided is an automatic tool exchange device which can achieve reduction in size. The automatic tool exchange device comprises a first connection member 12A and a second connection member. The first connection member comprises a piston 33, a piston rod 39, a piston bolt 35, a ring 41 that is disposed apart from an enlarged diameter part 39y of the leading end of the piston rod, and a cam 34 that is bent and turnably provided to a support shaft 37. The cam comprises: an additional part 49 that is disposed in a gap 50 between the enlarged diameter part and the ring; and an action part 55 that can engage with an engagement component of the second connection member. The automatic tool exchange device is configured such that the action part protrudes from the first connection member and engages with the engagement component of the second connection member when the piston moves in one direction along the axial direction AX and the action part releases the engagement with the engagement component when the piston moves in the other direction along the axial direction. A recess (ring-shaped groove 39a) that receives the leading end of the additional part when the action part protrudes from the first connection member is formed in the surface of the enlarged diameter part.

Description

Automatic tool changer

[0001] The present invention relates to an automatic tool changer.

[0002] For example, as an automatic tool changer applied to an industrial robot, there is disclosed an apparatus including a first connecting member attached to the robot side and a second connecting member attached to the tool side (for example, Patent Document 1 and Patent Document 2). The first connecting member is provided with a protrusion and a cam that can project radially from the protrusion on a first connecting body. A connecting hole into which the protrusion can be inserted is formed in the second connecting member on a second connecting body, and an engaging part with which the cam can engage is provided on an inner peripheral surface of the connecting hole. When the protrusion is inserted into the connecting hole, the tool changer connects the first connecting member and the second connecting member by engaging the cam with the engaging part. Also, by releasing the engagement between the cam and the engaging part, the first connecting member and the second connecting member are separated. In this way, the tool changer can exchange tools attached to the industrial robot.

[0003] In the automatic tool changers of Patent Document 1 and Patent Document 2 described above, the first connecting member and the second connecting member are connected by engaging the cam and the engaging part, and the first connecting member and the second connecting member are separated by releasing the engagement between the cam and the engaging part. The cam abuts against either a first enlarged diameter part or a second enlarged diameter part, and is provided so as to rotate between an engagement position where the cam engages with the engaging part and a release position where the engagement is released by the advance and retreat of the first enlarged diameter part and the second enlarged diameter part provided on a piston bolt.

[0004] Japanese Patent Application Laid-Open No. 2012-250327 Japanese Patent Application Laid-Open No. 2019-081212

[0005] In the automatic tool changers of Patent Document 1 and Patent Document 2 described above, the cam is provided so as not to simultaneously abut against both the first enlarged diameter part and the second enlarged diameter part at the engagement position, the release position, and positions when rotating between them. This is because if the cam simultaneously abuts against both the first enlarged diameter part and the second enlarged diameter part, the rotation of the cam becomes non-smooth.

[0006] The automatic tool changers described in Patent Documents 1 and 2 have components with complex configurations as described above. If the components are miniaturized to reduce the size of the automatic tool changer, the cam will come into contact with both the first and second enlarged diameter sections simultaneously, resulting in uneven rotation of the cam and preventing the automatic tool changer from functioning properly. Therefore, there was a problem in that miniaturizing the automatic tool changer was difficult.

[0007] The present invention aims to provide an automatic tool changer that can be miniaturized.

[0008] The present invention provides an automatic tool changer comprising: a first connecting member detachably attached to one of the main body side and the tool side of the device; and a second connecting member detachably attached to the other of the main body side and the tool side of the device, wherein the first connecting member comprises: a piston; a piston rod provided on the central axis of the piston; a piston bolt provided on the central axis of the piston; a ring provided on the piston bolt and spaced apart from an enlarged diameter portion provided at the tip of the piston rod; and a bent cam rotatably provided on a support shaft provided on the first connecting member, wherein the cam comprises: an additional portion provided at one end and positioned in the gap between the enlarged diameter portion and the ring; and the other end The device comprises an action portion provided at the other end located at a position bent from the first connecting member, and capable of engaging with the engagement component of the second connecting member, wherein when the piston moves in one direction along the axial direction, the cam rotates in a direction that brings the added portion closer to the enlarged diameter portion, causing the action portion to protrude from the first connecting member, the action portion to engage with the engagement component of the second connecting member, and when the piston moves in the other direction along the axial direction, the cam rotates in a direction that moves the added portion away from the enlarged diameter portion, causing the action portion to become non-protruding from the first connecting member, and the action portion to disengage from the engagement component, and a recess is formed on the surface of the enlarged diameter portion into which the tip of the added portion fits when the action portion is in a protruding state from the first connecting member.

[0009] According to the present invention, an automatic tool changer can be made smaller because the tip of the added part fits into the recess.

[0010] This is a perspective view showing the configuration of the automatic tool changer in the separated state according to the embodiment. This is a cross-sectional view showing the cross-sectional configuration of the first connecting member in the chuck state in Figure 1. This is a cross-sectional view showing the cross-sectional configuration of the first connecting member in the unchuck state in Figure 1. This is an exploded perspective view of the cam mechanism of the first connecting member in Figure 1. This is an enlarged detailed view of the region B around the cam mechanism enclosed by the dashed line in Figure 2. This is an enlarged detailed view of the region C around the cam mechanism enclosed by the dashed line in Figure 3. This is a plan view showing the configuration of the cam and piston rod of the first connecting member in Figure 1. This is a top view showing the configuration of the piston rod of the first connecting member in Figure 1. This is a side view showing the configuration of the piston rod of the first connecting member in Figure 1. This is a cross-sectional view illustrating the connection operation of the first connecting member and the second connecting member. This is a cross-sectional view showing the cross-sectional configuration of the piston rod of Modification 1. This is a perspective view showing the configuration of the piston rod according to Modification 2. This is a plan view showing the configuration of the piston rod and cam shown in Figure 11A. This is a perspective view showing the configuration of the piston rod according to Modification 3. This is a plan view showing the configuration of the piston rod and cam shown in Figure 12A. This is a perspective view showing the configuration of the piston rod according to Modification 4. This is a plan view showing the configuration of the piston rod and cam shown in Figure 13A. This is a perspective view showing the configuration of the piston rod according to modified example 5. This is a plan view showing the configuration of the piston rod and cam shown in Figure 14A.

[0011] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0012] 1. Overall Configuration Diagram 1 is a perspective view showing the configuration of the automatic tool changer 10 according to this embodiment in a separated state. The automatic tool changer 10 shown in Figure 1 comprises a first connecting member 12A fixed to the tip (not shown) of the arm of an industrial robot, which is the main body of the device, and a second connecting member 14 fixed to a tool (not shown). The second connecting member 14 shown in this figure is shown in a state where it is not connected to the first connecting member 12A. The first connecting member 12A is precisely positioned relative to the second connecting member 14 by inserting a positioning pin 17 provided on the first connecting body 16A into a positioning hole 13 formed in the second connecting body 15 of the second connecting member 14. The tool is not particularly limited, but for example, a spot welding gun or a robot hand can be used. The first connecting member 12A and the robot arm, and the second connecting member 14 and the tool are detachably fastened together by fasteners (not shown), such as bolts. The robot arm and the tool are connected and separated via the automatic tool changer 10.

[0013] The first connecting member 12A is provided with a fall prevention mechanical valve 18. The fall prevention mechanical valve 18 is connected to an intake / exhaust section (not shown).

[0014] (First Connecting Member) Figure 2 is a cross-sectional view showing the cross-sectional configuration of the first connecting member 12A at A-A in Figure 1. Figure 2 shows the first connecting member 12A shown in Figure 1 in an inverted state. The first connecting member 12A can be in either a chucked state or an unchucked state, and Figure 2 shows the first connecting member 12A in the chucked state. As shown in Figure 2, the first connecting member 12A has a first connecting body 16A and a cylinder 30, a coil spring 32, and a cam 34 provided on the first connecting body 16A. The coil spring 32 is installed so as to push the cylinder 30 upward in one direction.

[0015] The first connecting body 16A has a plate-shaped portion 25 formed in a substantially plate shape, a projection 27 protruding from the surface of the plate-shaped portion 25, a cylinder chamber 31 formed within the plate-shaped portion 25, and a cam mechanism housing chamber 28 formed within the projection 27 and coaxial with the cylinder chamber 31. The cylinder 30 can perform linear motion within the cylinder chamber 31 in one direction along the axial direction AX of the cylinder 30 and in the other direction opposite to that direction. The cylinder chamber 31 is formed by closing a hole formed on the other surface of the plate-shaped portion 25 with a cover 40. A pipe 36 connected to the separation port and a pipe 38 connected to the connecting port are connected to the cylinder chamber 31 in the axial direction AX. A first contact surface 12S is formed on the surface of the plate-shaped portion 25 at the periphery of the projection 27.

[0016] The cylinder 30 includes a piston 33, a piston bolt 35, a piston rod 39, and a ring 41. The piston 33 is located within the cylinder chamber 31. The piston bolt 35 has its base end connected to the central axis of the piston 33, and its tip is located within the cam mechanism housing chamber 28. The piston rod 39 and the ring 41 are located within the cam mechanism housing chamber 28.

[0017] A support shaft 37 is provided on the projection 27 of the first connecting body 16A, on which a cam 34 is rotatably mounted. The support shaft 37, located inside the projection 27, has an axis perpendicular to the central axis of the piston 33. The cam 34 is rotatably mounted relative to the support shaft 37 and is located in the cam mechanism housing chamber 28. Here, the mechanism including the piston bolt 35, ring 41, piston rod 39, and cam 34 is referred to as the cam mechanism 28A.

[0018] The piston 33 is formed to slide axially AX within the cylinder chamber 31. Following the sliding of the piston 33, the cam 34 rotates around the support shaft 37 as its axis of rotation due to the operation of the cam mechanism 28A.

[0019] In the chucked state shown in Figure 2, the piston 33 is positioned at the lower end of the axial AX within the cylinder chamber 31, and the working portion 55 of the cam 34 (see Figure 4) protrudes outside the projection 27. The working portion 55 of the cam 34 protruding from the projection 27 can engage with the corresponding engaging part of the second connecting member 14. The arrangement of the cam mechanism 28A with the working portion 55 of the cam 34 protruding from the projection 27 is referred to as the engagement position.

[0020] Figure 3 is a cross-sectional view showing the cross-sectional configuration of the first connecting member 12A in the unchucked state at A-A in Figure 1. The piston 33 is positioned at the upper end of the axial AX within the cylinder chamber 31, and the working portion 55 of the cam 34 is housed in the projection 27. When the working portion 55 of the cam 34, which protrudes from the projection 27, is housed in the projection 27, the engagement with the engaging part of the second connecting member 14 can be released. The position in which the working portion 55 of the cam 34 is housed in the projection 27 of the cam mechanism 28A is referred to as the release position. The detailed configuration and operation of the cam mechanism 28A will be described later.

[0021] (Cam mechanism) Figure 4 is an exploded perspective view of the cam mechanism 28A of the first connecting member 12A in this embodiment. The cam mechanism 28A includes a piston bolt 35, a ring 41, a piston rod 39, and a cam 34.

[0022] The piston bolt 35 is provided on the central axis of the piston 33. The piston bolt 35 has a cylindrical portion 35a and a flange portion 35b provided at one end of the cylindrical portion 35a.

[0023] The ring 41 is provided on the piston bolt 35 and is positioned spaced apart from the enlarged diameter portion 39y (described later) provided at the tip of the piston rod 39. The ring 41 has a disc-shaped portion 41a and an opening 41b in the center into which the piston bolt 35 is inserted.

[0024] The piston rod 39 is mounted on the central axis of the piston 33. The piston rod 39 has a cylindrical portion 39x and an enlarged diameter portion 39y provided at one end of the cylindrical portion 39x. The cylindrical portion 39x is provided with an opening 39z into which the piston bolt 35 is inserted. The enlarged diameter portion 39y has a substantially disc shape with an opening in the center for inserting the piston bolt 35. The surface of the enlarged diameter portion 39y is provided with a groove 39a that has a substantially rectangular cross-section and is ring-shaped in plan view (see Figure 7). The groove 39a is a recess of the enlarged diameter portion 39y and can also be called a thin-walled portion of the enlarged diameter portion 39y. Furthermore, the surface of the enlarged diameter portion 39y is provided with an annular outer frame portion 391 that surrounds the groove 39a and has a surface higher than the bottom surface of the groove 39a.

[0025] The cam 34 has a bent shape, such as an L-shape or a V-shape in cross-section. The cam 34 has an additional portion 49 and an operating portion 55. The additional portion 49 is provided at one end of the cam 34. The additional portion 49 is positioned in the gap 50 between the enlarged diameter portion 39y of the piston rod 39 and the ring 41. The operating portion 55 is provided at the other end of the cam 34, which is bent from the first end. The operating portion 55 is configured to engage with the engaging part of the second connecting member 14.

[0026] A through hole 34x is provided approximately at the center of the cam 34, into which a support shaft 37 supporting the cam 34 is inserted. The cam 34 is supported by the support shaft 37 inserted into the through hole 34x so that the additional portion 49 of the cam 34 is inserted into the gap 50. Multiple cams 34 are provided evenly on the circumference of the projection 27, for example, three cams, at positions corresponding to the engaging parts of the second connecting member 14. The working portion 55 of the cam 34 is formed in an arc shape. The cam 34 has a projection 34a at the end on the working portion 55 side that guides the rotation of the cam 34. The cam 34 has a tapered surface 34b in the additional portion 49, where the thickness in the direction W (see Figure 7) perpendicular to the plane on which the cam 34 rotates becomes thinner towards the tip of the additional portion 49.

[0027] The cylindrical portion 35a of the piston bolt 35 is inserted into the opening 41b of the ring 41, and the ring 41 is fixed to the piston bolt 35 in a position where it is locked by the flange portion 35b of the piston bolt 35. The cylindrical portion 35a of the piston bolt 35 is inserted into the opening 39z of the piston rod 39, and the piston rod 39 is fixed to the piston bolt 35 such that a predetermined gap 50 is provided between the enlarged diameter portion 39y of the piston rod 39 and the ring 41. The cam 34 is positioned so that the additional portion 49 is inserted into the gap 50 between the enlarged diameter portion 39y of the piston rod 39 and the ring 41. The cam mechanism 28A is configured as described above.

[0028] Figure 5 is an enlarged detail view of the area B around the cam mechanism 28A enclosed by the dashed line in Figure 2. As shown in Figure 5, the piston bolt 35 is inserted into the opening 39z of the piston rod 39 such that the cylindrical portion 39x of the piston rod 39 covers the outer circumference of the piston bolt 35. A ring 41 is provided at the tip of the piston bolt 35 so as to be spaced apart in the axial direction AX from the enlarged diameter portion 39y of the piston rod 39. A gap 50 is formed between the enlarged diameter portion 39y of the piston rod 39 and the ring 41.

[0029] The ring 41 has a curved surface at the portion that contacts the cam 34. The ring 41 is also called a wear compensation ring.

[0030] The added portion 49 of the cam 34 has a curved concave surface 49a formed on one side and a flat surface 49b formed on the other side, with the tip of the added portion 49 of the cam 34 in between.

[0031] The piston 33 is formed to slide axially AX within the cylinder chamber 31. Following the sliding of the piston 33, the piston bolt 35, the piston rod 39, and the ring 41 move axially AX within the cam mechanism housing chamber 28. The additional portion 49 of the cam 34 (see Figure 4) is positioned to be inserted into the gap 50 between the enlarged diameter portion 39y and the ring 41, and the cam 34 can rotate around the support shaft 37 as its axis of rotation, following the movement of the piston rod 39 and the ring 41.

[0032] As shown in Figure 2, in the chucked state, the piston 33 is positioned at the lower end of the axial AX within the cylinder chamber 31, and following the position of the piston 33, the piston rod 39 is positioned at the lower end of the cam mechanism housing chamber 28, as shown in Figure 5. At this time, the flat surface 49b of the cam 34 abuts against the ring 41 and is pushed down, and the working portion 55 of the cam 34 protrudes outside the projection 27. The tip of the additional portion 49 of the cam 34 is inserted to a depth t into a groove 39a provided on the surface of the enlarged diameter portion 39y.

[0033] Figure 6 is an enlarged detail view of the region C around the cam mechanism 28A enclosed by the dashed line in Figure 3. As shown in Figure 3, in the unchucked state of the first connecting member 12A, the piston 33 is positioned at the upper end of the axial AX within the cylinder chamber 31, and following the position of the piston 33, the piston rod 39 is positioned at the upper end of the cam mechanism housing chamber 28 as shown in Figure 6. At this time, the curved concave surface 49a of the cam 34 comes into contact with the enlarged diameter portion 39y (the outer peripheral frame portion 391 where the groove 39a of the enlarged diameter portion 39y is not formed) and is pushed up, and the working portion 55 of the cam 34 is housed in the cam mechanism housing chamber 28.

[0034] Figure 7 is a plan view showing the configuration of the cam 34 and piston rod 39 of the first connecting member 12A. As shown in Figure 7, a ring-shaped groove 39a is provided as a recess on the surface of the enlarged diameter portion 39y of the piston rod 39 in plan view. The cam 34 has a projection 34a at the end on the working portion 55 side that guides the rotation of the cam 34. The cam 34 has a tapered surface 34b in the addition portion 49 in which the thickness in the direction W perpendicular to the surface on which the cam 34 rotates becomes thinner towards the tip of the addition portion 49.

[0035] Figure 8A is a top view showing the configuration of the piston rod 39, and Figure 8B is a side view. As shown in Figures 8A and 8B, the piston rod 39 has a cylindrical portion 39x and an enlarged diameter portion 39y provided at one end of the cylindrical portion 39x, and the cylindrical portion 39x is provided with an opening 39z into which a piston bolt 35 is inserted. The surface of the enlarged diameter portion 39y is provided with a ring-shaped groove 39a with a substantially rectangular cross-section in plan view. At the other end of the cylindrical portion 39x, a small-diameter opening 39za is provided, which has a smaller diameter than the opening 39z. The piston rod 39 is fixed together with the piston bolt 35, which is inserted into the opening 39z, to a piston 33 having a shape corresponding to the small-diameter opening 39za.

[0036] 2. Operation In the first connecting member 12A of the above configuration, the cam 34 is rotatable between an engagement position in which the actuating part 55 engages with the engaging part and a release position in which the engagement is released. The piston 33 moves due to the intake and exhaust connected to the fall prevention mechanical valve 18, and as a result the enlarged diameter portion 39y and the ring 41 provided at the tip of the piston bolt 35 move back and forth in the axial direction AX. The cam 34 contacts one of the enlarged diameter portion 39y and the ring 41 and is rotated between the engagement position and the release position by the movement of the enlarged diameter portion 39y and the ring 41.

[0037] (Cam closing operation) Figure 5 shows the chuck state with the cam 34 of the first connecting member 12A open. The operation to change from this state to the unchuck state with the cam 34 of the first connecting member 12A closed, as shown in Figure 6, will be explained.

[0038] Gas is supplied as a fluid from the intake / exhaust section connected to the fall prevention mechanical valve 18 to the piping 36 connected to the separation port. When the pressure on one side of the piston 33 exceeds the force of the coil spring 32 due to the supplied gas, the piston 33 moves to the other side in the axial direction AX. As the piston 33 moves, the enlarged diameter portion 39y and ring 41 provided at the tip of the piston bolt 35 move in direction D. When the enlarged diameter portion 39y and ring 41 move in direction D, the enlarged diameter portion 39y comes into contact with the curved concave surface 49a of the cam 34 and pushes it up, causing the cam 34 to rotate in the rotational direction R around the support shaft 37. As a result, the cam 34 is housed within the projection 27.

[0039] (Cam opening operation) The operation of changing from the unchuck state, where the cam 34 of the first connecting member 12A shown in Figure 6 is closed, to the chuck state, where the cam 34 is open, as shown in Figure 5, will be explained.

[0040] Through the intake and exhaust section connected to the fall prevention mechanical valve 18, gas is discharged from the piping 36 connected to the separation port, and gas is supplied as a fluid to the piping 38 connected to the connecting port. The force of the coil spring 32 is added to the pressure from this gas, causing the piston 33 to move toward the other surface. As the piston 33 moves, the enlarged diameter portion 39y and the ring 41 provided at the tip of the piston bolt 35 move toward the opposite side of direction D, causing the ring 41 to contact and push down the flat surface 49b of the cam 34, thereby causing the cam 34 to rotate around the support shaft 37 in the direction opposite to the rotation direction R. As a result, the cam 34 protrudes radially from the projection portion 27, as shown in Figure 5.

[0041] (Connecting operation of the first connecting member and the second connecting member) Figure 9 is a cross-sectional view illustrating the connecting operation of the first connecting member 12A and the second connecting member 14. As shown in Figure 9, the first connecting member 12A and the second connecting member 14 are arranged and positioned coaxially. In this state, the cam 34 is closed in accordance with the closing operation of the cam 34 described above, and the cam 34 is housed within the projection 27.

[0042] Next, the projection 27 of the first connecting member 12A is inserted into the connecting hole 44 of the second connecting member 14 until the first contact surface 12S contacts the second contact surface 14S. In this state, the cam 34 is opened in accordance with the operation of opening the cam 34 described above. As a result, the cam 34 protrudes radially from the projection 27, and the working portion 55 of the cam 34 engages with the engaging surface of the engaging component 42. In this way, the first connecting member 12A and the second connecting member 14 are connected.

[0043] 3. Function and Effect In the first connecting member 12A of the automatic tool changer 10 according to the present embodiment, when the piston 33 moves in one direction along the axial direction AX, the cam 34 rotates in a direction in which the additional portion 49 approaches the enlarged diameter portion 39y, and the acting portion 55 protrudes from the side portion of the protrusion 27 of the first connecting member 12A and engages with the engaging component of the second connecting member 14. Further, in the automatic tool changer 10, when the piston 33 moves in the other direction along the axial direction AX, the cam 34 rotates in a direction in which the additional portion 49 moves away from the enlarged diameter portion 39y, and the acting portion 55 is in a non-protruding state from the side portion of the protrusion 27 of the first connecting member 12A, and the engagement between the acting portion 55 and the engaging component of the second connecting member 14 is released.

[0044] In the first connecting member 12A, when the cam 34 is at an engaging position where the acting portion 55 protrudes from the first connecting member 12A, a groove 39a, which is a thin-walled portion where the tip of the additional portion 49 enters without the surface of the enlarged diameter portion 39y and the additional portion 49 of the cam 34 coming into contact, is provided on the surface of the enlarged diameter portion 39y. Thereby, the operating range of the cam 34 can be ensured, and even when miniaturized, the cam does not come into contact with both the enlarged diameter portion and the ring simultaneously, and the cam can be rotated smoothly. Thereby, the automatic tool changer can be miniaturized. Further, the automatic tool changer can be lightened.

[0045] Also, in the automatic tool changer 10 of the present embodiment, on the side surface of the additional portion 49 of the cam 34 that is disposed opposite along the support shaft 37 on which the cam 34 is rotatably supported, there is a tapered surface 34b whose width in the direction W between the side surfaces narrows as it approaches the tip of the additional portion 49. In the configuration where the above-mentioned thin portion is provided in the diameter-expanded portion 39y, the interference region between the additional portion 49 and the diameter-expanded portion 39y of the cam 34 becomes large. In this case, it becomes necessary to increase the diameter of the diameter-expanded portion 39y, which may hinder the miniaturization of the automatic tool changer 10. To narrow the interference region between the additional portion 49 and the diameter-expanded portion 39y of the cam 34, it is conceivable to reduce the thickness in the direction W perpendicular to the surface on which the cam 34 rotates over the entire cam 34. However, in this case, the resistance to the bending moment applied to the automatic tool changer 10 will decrease. In the configuration where the cam 34 has the tapered surface 34b in the additional portion 49, the interference region between the additional portion 49 and the diameter-expanded portion 39y of the cam 34 can be narrowed without reducing the resistance to the bending moment applied to the automatic tool changer 10. In this way, miniaturization and weight reduction can be achieved without reducing the bending moment resistance of the automatic tool changer.

[0046] 4. Modified Example 1 In the above-described embodiment, the case where the ring-shaped groove 39a is provided on the surface of the diameter-expanded portion 39y and the surface heights of the inner peripheral side and the outer peripheral side of the groove 39a are the same has been described. However, the present invention is not limited to this. For example, as shown in FIG. 10, a configuration in which the surface height of the inner peripheral side of the groove 39k is lower than the surface of the outer peripheral side may be applied.

[0047] FIG. 10 is a cross-sectional view showing the cross-sectional configuration of the piston rod 39j of this modified example. As shown in FIG. 10, on the surface of the diameter-expanded portion 39y, there is provided a groove 39k that is substantially rectangular in cross-sectional shape and ring-shaped in plan view. The surface 39m of the inner peripheral side of the groove 39k is lower than the surface of the outer peripheral side.

[0048] Also in the automatic tool changer of this modified example, the operating range of the cam 34 can be ensured, and the automatic tool changer can be miniaturized and lightened.

[0049] 5. Modification 2 In the embodiments described above, a ring-shaped groove 39a is provided on the surface of the enlarged diameter portion 39y, but the present invention is not limited thereto. For example, as shown in Figure 11A, the recess may be a notch in which a predetermined area on the surface of the enlarged diameter portion 39y is thinned over the entire surface.

[0050] Figure 11A is a perspective view showing the configuration of the piston rod 39b according to this modified example. Figure 11B is a plan view showing the configuration of the piston rod 39b and cam 34 shown in Figure 11A. On the surface of the enlarged diameter portion 39y of the piston rod 39b, a notch 39c is formed, in which the entire area on the inner circumference side of a predetermined radius on the surface of the enlarged diameter portion 39y is thinned. The notch 39c is a recess formed in the enlarged diameter portion 39y.

[0051] In this modified automatic tool changer, the operating range of the cam 34 can be secured, and the automatic tool changer can be made smaller and lighter.

[0052] 6. Modification 3 In the embodiments described above, a ring-shaped groove 39a is provided on the surface of the enlarged diameter portion 39y, but the present invention is not limited thereto. For example, as shown in Figure 12A, a configuration in which the recess is a substantially rectangular recess formed on the surface of the enlarged diameter portion 39y may be applied.

[0053] Figure 12A is a perspective view showing the configuration of the piston rod 39d according to this modified example. Figure 12B is a plan view showing the configuration of the piston rod 39d and cam 34 shown in Figure 12A. On the surface of the enlarged diameter portion 39y of the piston rod 39d, a recess 39e is formed in a substantially rectangular area of ​​the surface of the enlarged diameter portion 39y, in which the wall thickness is reduced.

[0054] In this modified automatic tool changer, the operating range of the cam 34 can be secured, and the automatic tool changer can be made smaller and lighter.

[0055] 7. Modification 4 In the embodiments described above, a ring-shaped groove 39a is provided on the surface of the enlarged diameter portion 39y, but the present invention is not limited thereto. For example, as shown in Figure 13A, a configuration in which the recess is a circular recess formed on the surface of the enlarged diameter portion 39y may be applied.

[0056] Figure 13A is a perspective view showing the configuration of the piston rod 39f according to this modified example. Figure 13B is a plan view showing the configuration of the piston rod 39f and cam 34 shown in Figure 13A. On the surface of the enlarged diameter portion 39y of the piston rod 39f, a recess 39g is formed in a circular area of ​​the surface of the enlarged diameter portion 39y, with the wall thickness reduced.

[0057] In this modified automatic tool changer, the operating range of the cam 34 can be secured, and the automatic tool changer can be made smaller and lighter.

[0058] 8. Modification 5 In the embodiments described above, a case was described in which a ring-shaped groove 39a is provided on the surface of the enlarged diameter portion 39y, but the present invention is not limited thereto. For example, as shown in Figure 14A, a configuration in which the recess is a straight groove formed on the surface of the enlarged diameter portion 39y may be applied.

[0059] Figure 14A is a perspective view showing the configuration of the piston rod 39h according to this modified example. Figure 14B is a plan view showing the configuration of the piston rod 39h and cam 34 shown in Figure 14A. A straight groove 39i is provided on the surface of the enlarged diameter portion 39y of the piston rod 39h. The groove 39i is a recess formed in the enlarged diameter portion 39y.

[0060] In this modified automatic tool changer, the operating range of the cam 34 can be secured, and the automatic tool changer can be made smaller and lighter.

[0061] In the embodiments and modifications described above, the recess formed on the surface of the enlarged diameter portion 39y is not a hole that penetrates the enlarged diameter portion 39y. However, the present invention is not limited to this, and the recess may be a hole that penetrates the enlarged diameter portion 39y.

[0062] In the embodiments described above, an automatic tool changer was described in which the first connecting member is detachably attached to the main body of the device and the second connecting member is detachably attached to the tool side. However, the present invention is not limited to this. For example, in another embodiment, the first connecting member may be detachably attached to the tool side and the second connecting member may be detachably attached to the main body of the device, or the present invention may be an automatic tool changer in which the first and second connecting members are attached in reverse. Furthermore, in the embodiments described above, the case in which the ring 41 and the piston bolt 35 are formed separately was described, but the present invention is not limited to this, and the ring 41 and the piston bolt 35 may be formed integrally.

[0063] 10 Automatic tool changer 12A First connecting member 14 Second connecting member 31 Cylinder chamber 30 Cylinder 33 Piston 34 Cam 35 Piston bolt 39 Piston rod 39a Ring-shaped groove (recess) 39y Enlarged diameter portion 41 Ring 42 Engaging part 49 Additional part 50 Gap 55 Working part AX Axial direction

Claims

1. An automatic tool changer comprising: a first connecting member detachably attached to one of the main body side and the tool side of the device; and a second connecting member detachably attached to the other of the main body side and the tool side of the device, wherein the first connecting member comprises: a piston; a piston rod provided on the central axis of the piston; a piston bolt provided on the central axis of the piston; a ring provided on the piston bolt and spaced apart from an enlarged diameter portion provided at the tip of the piston rod; and a bent cam rotatably provided on a support shaft provided on the first connecting member, wherein the cam comprises: an additional portion provided at one end and positioned in the gap between the enlarged diameter portion and the ring; and an operating portion provided at the other end, which is bent from the one end, and which can engage with an engaging component of the second connecting member, An automatic tool changer having the following configuration: When the piston moves in one direction along the axial direction, the cam rotates in a direction that brings the added portion closer to the enlarged diameter portion, causing the working portion to protrude from the first connecting member and engage with the engaging part of the second connecting member; When the piston moves in the other direction along the axial direction, the cam rotates in a direction that moves the added portion away from the enlarged diameter portion, causing the working portion to not protrude from the first connecting member and disengaging from the engaging part; and a recess is formed on the surface of the enlarged diameter portion into which the tip of the added portion fits when the working portion is in a protruding state from the first connecting member.

2. The automatic tool changing device according to claim 1, wherein the recess is a groove formed on the surface of the enlarged diameter portion.

3. The automatic tool changing device according to claim 1, wherein the recess is a hole formed on the surface of the enlarged diameter portion.

4. The automatic tool changing device according to claim 1, wherein the recess is a notch formed on the surface of the enlarged diameter portion.

5. The automatic tool changing device according to claim 1, wherein the added portion has tapered surfaces on its sides, which are arranged opposite each other along the support shaft, such that the width between the sides narrows towards the tip of the added portion.

Images