JP5894766B2 - Tool changer - Google Patents

Description

  The present invention relates to a tool changer for attaching a tool to an industrial robot (simply referred to as a robot in this specification).

  Conventionally, a tool changer for attaching a tool to a robot in a replaceable manner has been provided.

  The tool includes a functional unit having a function corresponding to the content of processing, and a tool main body to which the functional unit is connected. The tool main body has a first end and a second end opposite to the first end, and includes a connecting portion connectable to the tool changer on the first end side. The coupling portion includes a concave or hole-shaped cavity portion dug down from the first end to the second end of the tool body, and an engagement portion disposed around the center of the cavity portion in the cavity portion.

  On the premise of this, the tool changer is an apparatus main body having a robot connecting part to be connected to the robot, an insertion part that can be inserted into the cavity of the tool, and the tool with the insertion part inserted into the cavity. A lock mechanism that is fixed to the main body and a drive unit that operates the lock mechanism are provided.

  The insertion portion has a center line extending in one direction. The lock mechanism includes a linear motion body that is reciprocally movable in one direction (a direction in which the center line of the insertion portion extends) in the apparatus main body, and a plurality of lock members that are arranged at intervals around the center line of the insertion portion. And a plurality of lock members provided to be switchable between a state in which each part protrudes outward from the outer periphery of the insertion part and a state in which each part is retracted in the insertion part.

  In this type of tool changer, a movement limit position on one side in one direction and a movement limit position on the other side in one direction are set as limit positions for movement of the linear motion body in one direction. The linear motion body is a shaft portion having a first end and a second end opposite to the first end, the shaft portion disposed in the apparatus main body with the first end positioned on the insertion portion side, A pressing portion that is continuous with the first end of the shaft portion;

  The pressing portion is formed in a mode according to the form of the locking member, and the linear motion body moves in one direction to press each of the plurality of locking members, and a part of each of the plurality of locking members is arranged on the outer periphery of the insertion portion. It projects from the outside.

  More specifically, a cam or a sphere is adopted as the lock member. A locking member formed of a cam (hereinafter referred to as a cam-type locking member) has a first end and a second end opposite to the first end. The first end portion and the second end portion of the cam-type lock member are supported by the apparatus main body via an axis extending in a direction orthogonal to one direction (center line of the insertion portion). As a result, the cam-type lock member is rotated around the shaft as a fulcrum by switching between urging in one direction with respect to the first end side and release thereof, and the second end portion protrudes outward from the outer periphery of the insertion portion. The state is switched to the state in which the second end portion is retracted into the insertion portion.

  Along with this, the pressing portion intended for the cam-type lock member is formed so as to be capable of pressing (latching) the first end portion of the cam-type lock member in one direction. As a result, the entire linear moving body moves to one side in one direction, so that the pressing portion presses the first end portion of the cam type lock member, and the second end portion of the cam type lock member moves to the outer periphery of the insertion portion. It projects from the outside. Further, when the entire linear moving body moves to either one side in one direction, the pressing portion presses the first end portion of the cam type lock member, and the second end portion of the cam type lock member is retracted into the insertion portion. (For example, refer to Patent Document 1).

  On the other hand, a lock member composed of a spherical body (hereinafter referred to as a spherical lock member) is provided movably in a direction orthogonal to one direction (center line of the insertion portion).

  Along with this, the pressing portion intended for the spherical lock member has a first end in one direction and a second end opposite to the first end, from the second end side toward the first end side. The diameter is reduced to form a taper. Thereby, when the whole linear moving body moves to any one side in one direction, the outer peripheral surface (tapered surface) of the pressing portion presses the spherical lock member, and the force acting by the inclination of the outer peripheral surface of the pressing portion ( A part of the spherical lock member is pushed outward from the outer periphery of the insertion portion by a component force in one direction). Further, the entire linear moving body moves to one side in one direction so that the pressing by the pressing portion against the spherical lock member is released and the movement of the spherical lock member (retraction into the insertion portion) is allowed. (For example, refer to Patent Document 2).

  As the drive unit, an electric type or a fluid pressure type (mainly pneumatic type) is adopted. Specifically, the electric drive unit includes an electric motor that outputs a rotational motion and a drive transmission unit that transmits the output of the electric motor to the linear motion body. The drive transmission unit includes a gear mechanism to which the output (rotational motion) of the electric motor is input, and a screw mechanism that receives the output of the gear mechanism and moves the linear motion body in one direction. Then, when the linear motion body moves to one side in one direction and the linear motion body reaches the movement limit position on the one side, the electric drive unit requires an axial force (lock member is required) of the linear motion body. The movement of the linear motion body (drive of the electric motor) is stopped on the assumption that a force required to engage with the engaging portion of the tool in a state of being pressed is applied. The electric drive unit moves the linear motion body (drives the electric motor) when the linear motion body reaches the movement limit position on the other side when the linear motion body moves to either one side in one direction. Stop (see, for example, Patent Document 1).

  On the other hand, the fluid pressure type drive unit is provided with a piston that is continuous with the second end of the shaft portion of the linear motion body, the piston is disposed inside, and a fluid (generally pressurized air) is supplied from the outside. A cylinder formed in the apparatus main body. The space in the cylinder is divided into two spaces with the piston as a boundary. As a result, the fluid pressure type drive unit feeds the fluid to any one of the spaces in the cylinder, thereby advancing the linear motion body (moving it to one side in one direction). Further, the fluid pressure type drive unit feeds fluid to any one of the other spaces in the cylinder, thereby causing the linear motion body to move backward (move to one side in one direction). When this type of drive unit is employed, the linear motion body is mechanically stopped at a movement limit position on one side in one direction and a movement limit position on the other side in one direction (for example, Patent Documents). 2).

  As a result, in any of the tool changers configured as described above, the linear motion body (pressing portion) receives the output of the driving portion in any one direction while the insertion portion of the device main body is inserted into the cavity portion of the tool main body. When moving to one side and reaching the movement limit position, each of the plurality of lock members protrudes outward from the insertion portion, and each of the plurality of lock members and the engagement portion of the tool are in pressure contact with each other. Engage. Thereby, the insertion part of a tool changer (apparatus main body) cannot escape from the cavity of a tool. On the other hand, with the insertion portion of the device body inserted into the cavity of the tool body, the linear motion body (pressing portion) receives the output of the drive portion and moves to one side in the other direction to move to the limit position. When reaching the position, each of the plurality of locking members is in a retracted state or retractable state in the insertion portion. Thereby, the insertion part of a tool changer (apparatus main body) can escape from the cavity part of a tool.

  Therefore, the tool changer having the above configuration can attach and detach the tool by engaging and releasing the lock member with respect to the engaging portion of the tool.

Japanese Patent Laid-Open No. 11-207555 JP 2003-117869 A

  By the way, in the tool changer having the above-described configuration, as described above, when the pressing portion of the linear moving body presses the plurality of locking members (moves the plurality of locking members), the pressing portion is applied to each of the plurality of locking members. Press contact. Therefore, when the attachment / detachment of the tool (the pressing of the plurality of locking members by the pressing portion) is repeatedly performed, the pressing portion and the locking member tend to wear. As a result, even if the linear moving body moves to one side in one direction and reaches the movement limit position, and the pressing part presses the locking member, the locking member is properly engaged (pressed contact) with the engaging part of the tool. ) It may not move to the position where it can be done.

  In particular, in a tool changer equipped with an electric drive unit, when the tool is repeatedly attached and detached, in addition to the pressing unit and the lock member, there are parts in the drive transmission unit (for example, a gear of a gear mechanism and a screw of a screw mechanism). Etc.) wears out and rattle occurs in the drive transmission section. As a result, it becomes remarkable that the pressing portion cannot properly press the lock member, and the lock member does not move to a position where it can properly engage (press contact) with the engaging portion of the tool.

  Therefore, any of the conventional tool changers has a problem that the tool cannot be properly attached by repeatedly exchanging the tool.

  Therefore, in view of such circumstances, an object of the present invention is to provide a tool changer that can properly attach a tool even when the tool is repeatedly changed.

The present invention replaces a tool having a tool body including a concave or hole-shaped cavity portion opened on an outer surface and an engagement portion arranged around the center of the cavity portion in the cavity portion with respect to the robot. A tool changer for enabling attachment, comprising: a robot coupling portion coupled to the robot; and an insertion portion that is insertable into the cavity and has a center line extending in one direction. An apparatus main body, a lock mechanism for fixing the tool to the apparatus main body in a state in which the insertion portion is inserted into the hollow portion, and a drive unit for operating the lock mechanism. A linear motion body that is reciprocally movable in the one direction within the body, and a plurality of locking members that are arranged around the center line of the insertion portion, and the linear motion body includes the one linear motion body. Shaft with axis in direction A pressing portion connected to the shaft portion so as to be movable in the one direction, the pressing portion disposed in the insertion portion, and the pressing portion is urged to one side in the one direction. An elastic body, and the drive unit is configured to move the linear moving body in the one direction, and the pressing unit is configured so that at least the linear moving body is at a movement limit position on either side of the one direction. In the reached state, the linear motion body is formed so that a force toward one of the one direction acting on the pressing portion or a component force of the force acts as a pressing force against the plurality of locking members. Moves to one side of the one direction, so that the pressing portion presses each of the plurality of locking members, and a part of each of the plurality of locking members protrudes outward from the outer periphery of the insertion portion. On the other hand, the linear motion body is in any one direction By moving toward the square side, characterized in that each of said plurality of locking members are configured to allow retraction to or retracted to the insertion portion. Here, “one direction” means a direction in which one virtually set straight line (virtual straight line) extends, and “one side of one direction” means one virtually set line. Means either one of the two ends of the straight line (virtual straight line), and “one of the other side in one direction” means the end of one virtually set straight line (virtual straight line) It means the end side opposite to one of the ends.

  In the tool changer configured as described above, when the linear motion body receives the output of the drive unit and moves to one side in one direction with the insertion portion of the device main body being inserted into the cavity of the tool main body, the pressing portion is A plurality of locking members are pressed. As a result, a part of each of the plurality of lock members protrudes outward from the outer periphery of the insertion portion, and each of the plurality of lock members engages with the engagement portion of the tool in pressure contact. Therefore, the insertion part of the tool changer (apparatus main body) cannot escape from the cavity of the tool, and the tool is fixed to the tool changer. On the other hand, when the linear moving body receives the output of the drive unit and moves to one side in one direction, each of the plurality of lock members is retracted into the insertion unit or can be retracted. Accordingly, the engagement between each of the plurality of lock members and the engagement portion of the tool is released or can be released. Accordingly, the insertion portion of the apparatus main body can be removed from the cavity portion of the tool, and the tool can be removed from the tool changer.

  And also in the tool change apparatus of the said structure, if a tool is repeatedly attached or detached, a press part and a lock member will be worn out. Further, when the drive unit includes a drive transmission unit including a gear mechanism, a screw mechanism, or the like, wear occurs in the drive transmission unit in addition to the pressing unit and the lock member. However, in the lock mechanism of the tool changer having the above configuration, only the shaft portion of the pressing portion and the shaft portion constituting the linear motion body is in a state where the linear motion body has reached the movement limit position on one side in one direction. Located at a certain position. On the other hand, the pressing part that can move in one direction among the pressing part and the shaft part constituting the linear moving body is in a state of being urged to one side in one direction by the elastic body. As a result, even if wear occurs in various places, the pressing force in one direction of the pressing portion is supplemented by the elastic force of the elastic body, and the pressing portion presses the plurality of lock members while applying the necessary pressing force in one direction. It will be in the state.

  Therefore, even if wear occurs in various places, the pressing portion pushes the lock member to a position where it can properly engage (press contact) with the engaging portion of the tool. As a result, each of the plurality of lock members is properly engaged (pressed) with the engagement portion of the tool in a state where a part of the lock member protrudes outward from the outer periphery of the insertion portion. As a result, the tool changer configured as described above is in a state in which the tool can be properly attached even when the tool is repeatedly changed.

  As an aspect of the present invention, the elastic body has a first end and a second end opposite to the first end, and the shaft portion receives a first receiver that receives the first end of the elastic body. It is preferable that the pressing portion is provided with a second receiving portion that faces the first receiving portion in the one direction and receives the second end of the elastic body. . If it does in this way, the energizing force by an elastic body can be efficiently transmitted to a press part, and it is in the state where it pressed on a plurality of lock members, energizing a press part according to wear (backlash) of each place. Can be engaged.

  In this case, the pressing portion includes a base portion connected to the first end side of the shaft portion of the linear motion body so as to be movable in the one direction, and the first end of the shaft portion from the base portion. It is preferable that the second receiving portion is provided on the separation tip portion. The separation tip portion is disposed on the side and is detachably connected to the base portion. In this way, the elastic body can be easily replaced. In other words, the separation tip provided with the second receiving portion is separated from the base portion, so that the elastic body sandwiched between the first receiving portion and the second receiving portion is exposed. Therefore, it is possible to easily replace the elastic body having reduced elasticity with a new elastic body without performing complicated operations.

  As another aspect of the present invention, it is preferable that the elastic body includes a plurality of disc springs stacked in the one direction. If it does in this way, the urging | biasing force with respect to a press part can be easily adjusted to appropriate force by changing the number of disk springs.

  As another aspect of the present invention, the drive unit includes an electric motor that outputs a rotational motion, a female screw body that rotates around an axis that is transmitted with the rotational motion of the electric motor and extends in the one direction, and the one direction. And a drive transmission portion including a screw mechanism having a male screw body threadedly engaged with the female screw body, and the shaft portion is preferably connected to the male screw body. If it does in this way, the internal thread body of a screw mechanism will rotate the axis line extended to one direction by rotation of a motor. The male screw body screwed into the female screw body moves in one direction as the female screw body rotates. Thereby, the shaft body (linear motion body) connected to the female screw body moves in one direction together with the male screw body. Accordingly, it is possible to switch between a state in which a part of each of the plurality of lock members protrudes outward from the outer periphery of the insertion portion and a state in which each of the plurality of lock members is retracted into or retractable into the insertion portion. Thereby, even if it is an area without an air supply source, a tool can be appropriately connected (attached) by driving an electric motor.

  Furthermore, as another aspect of the present invention, each of the plurality of locking members is configured by a sphere that is movable in a direction orthogonal to the one direction, and the pressing portion includes a first end and a first end. A second end opposite to the second end in the one direction, and at least a taper portion having a diameter reduced from the first end side toward the second end side. By pressing each, a part of each of the plurality of locking members protrudes outward from the outer periphery of the insertion portion, and the pressing of the tapered portion against the plurality of locking members is released, so that the plurality of locking members It is preferable that each of these is retracted into the insertion portion or in a retractable state. If it does in this way, a plurality of lock members can be pressed appropriately by a press part, and a part of each of a plurality of lock members projected outside from the perimeter of an insertion part, and a part of each of a plurality of lock members Can be smoothly switched to the retractable state or retractable state in the insertion portion.

  As described above, the present invention can provide an excellent effect that the tool can be properly attached even if the tool is repeatedly replaced.

FIG. 1 is a diagram illustrating an example of a tool attached to a tool changer according to an embodiment of the present invention, and FIG. 1A is an overall schematic perspective view of a tool in which a functional unit is indicated by a two-dot chain line, 1B is a cross-sectional view taken along the line II of FIG. 1A. FIG. 2 is a schematic overall perspective view of a tool changer according to an embodiment of the present invention. FIG. 3 is a schematic exploded perspective view of the tool changer according to the embodiment. 4 is a cross-sectional view of the tool changer according to the embodiment, which is a cross-sectional view taken along the line II-II in FIG. FIG. 5 is a cross-sectional view of the tool changer according to the embodiment, which is a cross-sectional view taken along the line III-III in FIG. 2. 6 is a cross-sectional view of the tool changer according to the embodiment, which is a cross-sectional view taken along the line IV-IV in FIG. 2. FIG. 7 is a cross-sectional view of a state where the tool is attached to the tool changer according to the embodiment, and is a cross-sectional view of a state where the tool changer approaches the tool. FIG. 8 is a cross-sectional view of a state where the tool is attached to the tool changer according to the embodiment, and is a cross-sectional view of a state where the insertion portion is inserted into the cavity. FIG. 9 is a cross-sectional view when the tool is attached to the tool changer according to the embodiment, and is a cross-sectional view in a state where the tool is fixed to the tool changer. It is sectional drawing of the tool change apparatus which concerns on other embodiment of this invention. It is sectional drawing of the tool change apparatus which concerns on another embodiment of this invention. It is sectional drawing of the tool change apparatus which concerns on another embodiment of this invention.

  Hereinafter, a tool changer concerning one embodiment of the present invention is explained, referring to an accompanying drawing. First, prior to the description of the tool changer according to the present embodiment, a tool that is a target of the tool changer will be schematically described. As shown in FIGS. 1A and 1B, the tool includes a functional unit 50 having a function corresponding to the content of processing, and a tool body 51 to which the functional unit 50 is coupled.

  As described above, the function unit 50 has a function corresponding to the content of the process. For example, when the content of the process (processing) is welding (spot welding), a spot gun is employed, and the process ( When the content of (processing) is the conveyance (conveyance) of parts, a hand having a pair of clamping bodies is employed. In FIG. 1A and FIG. 1B, an example in which a hand is mounted as the functional unit 50 is illustrated as an example of the tool 5.

  The tool body 51 has a first end P1 and a second end P2 opposite to the first end P1. And the tool main body 51 is provided with the connection part 52 with which the tool change apparatus which concerns on this embodiment is connected.

  The connecting portion 52 is dug down from the first end P1 to the second end P2 of the tool main body 51, and is a concave or hole-like hollow portion 53 (in the figure, a hole shape) opened on the first end P1 (on the outer surface). And an engaging portion 54 disposed around the center line CL1 of the cavity portion 53 within the cavity portion 53).

  1A and 1B is defined by an inner peripheral surface around a center line CL1 extending from the first end P1 side to the second end P2 side. On the premise of this, the engaging portion 54 of the tool body 51 is formed so as to protrude inward (center line CL1 side) from the inner peripheral surface on the first end P1 side of the inner peripheral surface of the cavity portion 53. Yes. The cavity 53 may be formed so as to form an opening that opens on the first end P1 and to expand on the second end P2 side. In this case, the engaging portion 54 is provided along an opening that opens on the first end P <b> 1 in the cavity portion 53, or on the first end P <b> 1 side in the tool main body 51 in the cavity portion 53. 53 around the center line CL1. Moreover, although the engaging part 54 illustrated by FIG. 1A and 1B is formed continuously in the circumferential direction, the engaging part 54 may be intermittently formed in the circumferential direction. A guide hole 55 dug down toward the second end P <b> 2 is provided on the first end P <b> 1 of the tool body 51. The guide hole 55 is formed in a tapered shape having a diameter reduced toward the second end P2.

  As shown in FIG. 2, the tool changer is based on the assumption that the tool 5 (tool main body 51) includes the connecting portion 52 having the above-described configuration, and a robot connecting portion 20 connected to the robot R and a hollow portion of the tool 5. 53. The apparatus main body 2 includes an insertion portion 21 that can be inserted into the insertion portion 53 and has an insertion portion 21 having a center line (linear center line) CL2 extending in one direction. In the present embodiment, “one direction” means a direction in which one virtually set straight line (virtual straight line) extends. Further, in the following description, “one side in one direction” means one end side of both ends of the virtual straight line, and “the other side in one direction” means the other side of both ends of the virtual straight line. The end side of

  Here, the tool changer 1 will be described more specifically. As shown in FIG. 3, the tool changer 1 includes the tool body 5 and the tool 5 in a state where the insertion part 21 is inserted into the cavity 53 of the tool 5. Is provided with a lock mechanism 3 for fixing the lock mechanism 3 to the apparatus main body 2 and a drive unit 4 for operating the lock mechanism 3.

  The apparatus main body 2 includes a main body portion 22 in which an accommodation space 220 for accommodating the lock mechanism 3 is formed, a terminal electrically connected to the tool 5 and the like (not shown) in addition to the robot coupling portion 20 and the insertion portion 21. ) Is accommodated in the connector box 23. Further, the apparatus main body 2 according to the present embodiment has guide pins 24 that can be fitted into the guide holes 55 of the tool 5 (tool main body 51).

  As shown in FIGS. 3 to 6, the main body portion 22 has a first end P3 and a second end P4 opposite to the first end P3. The accommodation space 220 penetrates the main body portion 22 in one direction and opens on the first end P3 and the second end P4 of the main body portion 22.

  The accommodation space 220 is provided concentrically with the insertion portion 21. That is, the center line of the accommodation space 220 coincides with the center line CL <b> 2 of the insertion portion 21. In the present embodiment, the accommodation space 220 is formed in a stepped hole shape. Specifically, the accommodating space 220 is continuous with the large-diameter hole 221 that opens on the first end P3 of the main body 22 and the large-diameter hole 221 on the second end P4 side, and A small-diameter hole 222 that opens on the end P4. 3 and 4, the main body portion 22 is provided with a lateral hole 223 that communicates the large-diameter hole portion 221 of the housing space 220 with the outside in a direction perpendicular to the center line CL2. Yes. The small-diameter hole portion 222 of the accommodation space 220 is set to a hole diameter that can accommodate a later-described pressing portion 33 so as to reciprocate in one direction. As shown in FIGS. 3 and 6, a pair of guide grooves 224 and 224 that are opposed to each other are formed on the inner peripheral surface that defines the small-diameter hole 222. Each of the pair of guide grooves 224 and 224 extends in one direction (extends along the center line CL2). The pair of guide grooves 224 and 224 are arranged so as to sandwich a plurality of lock members 31, which will be described later.

  As shown in FIGS. 4 to 6, the insertion portion 21 is formed in a cylindrical shape, and has a first end P5 and a second end P6 opposite to the first end P5. The outer diameter of the insertion portion 21 is set to be insertable into the cavity portion 53 of the tool 5. That is, the outer diameter of the insertion portion 21 is set substantially equal to the inner diameter of the engagement portion 54 of the tool 5. On the other hand, the inner diameter of the insertion portion 21 is set to the same diameter as the small-diameter hole portion 222 of the accommodation space 220 of the main body portion 22. Accordingly, the first end P <b> 5 of the insertion portion 21 is connected to the main body portion 22 so that the inner hole of the insertion portion 21 is concentric with the accommodation space 220 of the main body portion 22. 3 to 5, the insertion portion 21 is provided with a plurality of holes 211,... Penetrating in a direction orthogonal to one direction (center line CL2) at intervals in the circumferential direction. .

  The robot connecting portion 20 is configured by a disc capable of closing the accommodation space 220 (opening on the first end P3) of the main body portion 22, and is screwed to the main body portion 22. The robot connecting portion 20 is provided with a plurality of screw holes (not numbered) at intervals in the circumferential direction. A through hole (not numbered) is provided between each of the plurality of screw holes of the robot connecting portion 20. The robot connecting portion 20 is fixed to the main body portion 22 by screwing screw members inserted into the through holes into the main body portion 22. On the other hand, the robot R is screwed into a screw hole of the robot connecting portion 20 with a screw member (not shown) inserted into the robot connecting portion 20 in a state where the robot R is externally fitted to the tool connecting device 1 ( It is connected to the device body 2).

  As shown in FIGS. 3 and 4, the guide pin 24 extends in one direction. The guide pin 24 protrudes outward from the second end P4 of the main body 22. The guide pin 24 is formed in a shape corresponding to the guide hole 55 of the tool 5. In the present embodiment, the guide hole 55 of the tool 5 is formed in a tapered shape as described above. Accordingly, the guide pin 24 is formed in a tapered shaft shape that tapers from the main body 22 side (base end side) toward the tip.

  As shown in FIGS. 3 to 5, the lock mechanism 3 includes a linear motion body 30 that is reciprocally movable in one direction (a direction in which the center line CL <b> 2 of the insertion portion 21 extends) in the apparatus main body 2, and the insertion portion 21. , And a plurality of lock members 31 arranged at intervals around the center line CL2.

  The linear motion body 30 is provided so that its position can be changed between a movement limit position on one side in one direction (hereinafter referred to as a first limit position) and a movement limit position on the other side in the one direction (hereinafter referred to as a second limit position). It has been. The linear motion body 30 according to the present embodiment includes a shaft portion 32 having an axial center in one direction, and a pressing portion 33 that is connected to the shaft portion 32 so as to be movable in one direction, and is disposed in the insertion portion 21. A pressing portion 33, and an elastic body 34 that urges the pressing portion 33 toward one side in one direction. In the present embodiment, the linear motion body 30 further includes a connecting shaft 35 that connects the shaft portion 32 and the pressing portion 33, and a pair of guide bodies 36 and 36 for guiding the pressing portion 33 in one direction. (See FIGS. 3 and 6).

  The shaft portion 32 has a first end P7 and a second end P8 opposite to the first end P7 in one direction. The shaft portion 32 according to the present embodiment is formed in a stepped bar shape. More specifically, the shaft portion 32 includes a small-diameter shaft portion 320 including the first end P7 of the shaft portion 32 and a large-diameter shaft portion 321 continuous with the small-diameter shaft portion 320. And a large-diameter shaft portion 321 including two ends P8. In the present embodiment, the shaft portion 32 is integrally formed with a male screw body 421 of a screw mechanism 42 described later. The male screw body 421 is connected to the second end P8 of the shaft portion 32 so as to be concentric with the shaft portion 32.

  The shaft portion 32 is provided with a first receiving portion 322 that receives the elastic body 34 (a first end P9 described later of the elastic body 34). Since the shaft portion 32 is formed in a stepped rod shape as described above, the connection end surface of the large diameter shaft portion 321 with the small diameter shaft portion 320 forms the first receiving portion 322. In the present embodiment, an external fitting member 37 that is fitted on the large-diameter shaft portion 321 of the shaft portion 32 is provided in order to prevent the large-diameter shaft portion 321 from being worn or damaged due to contact with the elastic body 34. Therefore, the first receiving portion 322 according to the present embodiment receives the elastic body 34 with the outer fitting member 37 interposed therebetween.

  The large-diameter shaft portion 321 and the outer fitting member 37 of the shaft portion 32 are provided with insertion shaft insertion holes 323 and 370 penetrating in a direction orthogonal to one direction (center line CL2), as shown in FIGS. ing. The diameters of the shaft insertion hole 323 of the large diameter shaft portion 321 and the shaft insertion hole 370 of the outer fitting member 37 are set to correspond to the outer diameter of the connecting shaft 35. In other words, each of the shaft insertion hole 323 of the large-diameter shaft portion 321 and the shaft insertion hole 370 of the outer fitting member 37 does not form a gap with the connection shaft 35 or does not substantially form a gap. It is formed so that 35 can be inserted. The shaft insertion holes 323 and 370 of the large-diameter shaft portion 321 and the external fitting member 37 communicate with each other in a state where the external-fit member 37 is externally fitted to the large-diameter shaft portion 321.

  As shown in FIGS. 3 to 6, the pressing portion 33 has a first end P11 and a second end P12 opposite to the first end P11. And the 1st end P11 side of the press part 33 which concerns on this embodiment has a smaller outer diameter than the 2nd end P12 side. That is, the pressing portion 33 includes a tapered portion 330 having a diameter reduced from the second end P12 side toward the first end P11.

  And in the press part 33 which concerns on this embodiment, the stepped hole 331 penetrated to one direction is provided. As shown in FIGS. 4 and 5, the stepped hole 331 of the pressing portion 33 includes a large diameter portion 332 that opens at the second end P12 of the pressing portion 33 and a large diameter portion on the first end P11 side of the pressing portion 33. 332 and a small diameter portion 333 opened at the first end P11 of the pressing portion 33. The large diameter portion 332 has a hole diameter that can accommodate the large diameter shaft portion 321 of the shaft portion 32 having the first receiving portion 322. In the present embodiment, as described above, the outer fitting member 37 is fitted onto the large-diameter shaft portion 321, so that the large-diameter portion 332 can accommodate the outer fitting member 37 fitted onto the large-diameter shaft portion 321. The hole diameter is set.

  And inside the press part 33, the 2nd receiving part 334 which receives the elastic body 34 (2nd end P10 mentioned later of the elastic body 34) is provided. In the present embodiment, as described above, the stepped hole 331 having the small diameter portion 333 on the first end side is provided in the pressing portion 33, so that it is formed at the boundary between the large diameter portion 332 and the small diameter portion 333. The end face that forms the second receiving portion 334.

The pressing portion 33 according to the present embodiment is disposed on the first end side of the shaft portion 32 relative to the base portion 335 and the base portion 335 connected to the first end side of the shaft portion 32 so as to be movable in one direction. A separation tip 336 that is detachably connected to the portion 335.

The base portion 335 includes a large-diameter base portion 337 having a columnar appearance, and a tapered portion 330 that tapers continuously to the large-diameter base portion 337. The separation tip 336 includes a small-diameter base 338 that is formed to have the same diameter as the tip (small-diameter portion) of the taper 330 and a small-diameter taper 339 that continuously tapers the small-diameter base 338. The separation tip portion 336 is screwed to the base portion 335, and can be separated from the base portion 335. The large diameter portion 332 of the stepped hole 331 of the pressing portion 33 is formed across the base portion 335 and the separation tip portion 336, and the small diameter portion 333 of the stepped hole 331 is formed at the separation tip portion 336. Has been. Therefore, in the present embodiment, the first receiving portion 322 is disposed in the base portion 335, and the second receiving portion 334 is provided in the separation tip portion 336.

As shown in FIGS. 3 and 6, a shaft insertion hole 340 penetrating in a direction orthogonal to one direction (center line CL <b> 2) is provided on the second end P <b> 12 side of the pressing portion 33. Since the pressing portion 33 according to the present embodiment includes the base portion 335 and the separation tip portion 336, the shaft insertion hole 340 is provided in the large-diameter base portion 337 located on the second end P12 side of the pressing portion 33. Yes. The shaft insertion hole 340 provided in the pressing portion 33 (large diameter base 337) is set to a hole diameter through which the connecting shaft 35 can be inserted. And the shaft insertion hole 34 of the press part 33 is formed in the long hole which makes a longitudinal direction in one direction. The shaft insertion hole 340 of the pressing portion 33 partially overlaps with the large diameter shaft portion 321 of the shaft portion 32 accommodated in the large diameter shaft portion 321 and the shaft insertion holes 323 and 370 of the outer fitting member 37. Are arranged as follows.

  Each of the pair of guide bodies 36 is composed of a rectangular plate. One guide body 36 of the pair of guide bodies 36 is set to be longer in one direction than the other guide body 36. Each of the pair of guide bodies 36 is provided with a shaft insertion hole 360 through which the connecting shaft 35 is inserted. The shaft insertion holes of the pair of guide bodies 36 and 36 are formed as long holes that are elongated in one direction, like the shaft insertion hole 340 of the pressing portion 33. In the present embodiment, the shaft insertion hole 340 of the pressing portion 33 and the shaft insertion hole 360 of the guide bodies 36 and 36 are formed in the same shape and the same size.

  The pair of guide bodies 36 are connected to the pressing portion 33 in a state where the pressing portion 33 (base portion 335) is sandwiched so that its own shaft insertion hole 360 overlaps the shaft insertion hole 340 of the pressing portion 33. Has been. The pair of guide bodies 36, 36 fits in each of the pair of guide grooves 224, 224 provided in the apparatus main body 2 (main body part 22) when the pressing portion 33 is accommodated in the accommodating space 220 of the apparatus main body 2. In combination, the pressing portion 33 is guided in one direction.

  In the present embodiment, as described above, the guide grooves 224 and 224 provided in the apparatus main body 2 (main body portion 22) are arranged so as to sandwich the plurality of lock members 31,. Therefore, the pair of guide bodies 36 and 36 and the connecting shaft 35 inserted through the guide bodies 36 and 36 are also arranged so as to sandwich the plurality of lock members 31. That is, the pair of guide bodies 36 and 36 and the connecting shaft 35 inserted through the guide bodies 36 and 36 are positioned between the lock members 31 that are adjacent to each other in the circumferential direction of the insertion portion 21.

  The connecting shaft 35 includes a shaft insertion hole 340 in the pressing portion 33, a shaft insertion hole 360 in the guide bodies 36 and 36, a shaft insertion hole 370 in the outer fitting member 37, and a shaft insertion hole in the shaft portion 32 (large diameter shaft portion 321). The connecting shaft 35 is inserted through the H.323. As a result, the pressing portion 33 is coupled to the shaft portion 32 in a state in which the pressing portion 33 can reciprocate in the longitudinal direction (one direction) of its own shaft insertion hole (long hole) 340.

  As shown in FIGS. 3 to 6, the elastic body 34 has a first end P9 and a second end P10 opposite to the first end P9 in one direction. The elastic body 34 according to the present embodiment includes a plurality of disc springs 341,... Stacked in one direction. Therefore, in the elastic body 34 of this embodiment, as shown in FIGS. 4 to 6, one disc spring 341 (first end) of the disc springs 341, 341 at both ends of the plurality of disc springs 341,. The disc spring 341) that becomes P9 is received by the first receiving portion 322, and the other disc spring 341 (the disc spring that becomes the second end P10) of the disc springs 341, 341 at both ends of the plurality of disc springs 341,. 341) is received by the second receiving portion 334. As described above, when the elastic body 34 is configured by the plurality of disc springs 341,..., The small-diameter shaft portion 320 of the shaft portion 32 is inserted into the plurality of disc springs 341,. .

  In the present embodiment, each of the plurality of lock members 31 is composed of a sphere. Each of the plurality of lock members 31,... Is disposed inside each of the plurality of holes 211,. That is, each of the plurality of lock members 31,... Intersects with one direction (center line CL2 of the insertion portion 21) by rolling inside each of the plurality of holes 211,. To move in the direction you want. As a result, each of the plurality of lock members 31,... Protrudes outward from the outer periphery of the insertion portion 21 and can be engaged with the engagement portion 54 of the tool 5 in a pressed state. The position is changed to the second position retracted in the part 21. Each of the plurality of holes 211 provided in the insertion portion 21 is smaller in diameter than the outer diameter of the lock member 31 on the outer peripheral surface side of the insertion portion 21, and the lock member 31 extends from the hole 211. It is prevented from falling off.

  The drive unit 4 can employ various modes, but each is configured to move the linear motion body 30 in one direction. As shown in FIGS. 3 and 4, the drive unit 4 according to the present embodiment rotates around an electric motor 40 that outputs rotational motion and an axis that is transmitted with the rotational motion of the electric motor 40 and extends in one direction. And a drive transmission portion 41 including a screw mechanism 42 having a female screw body 420 and a male screw body 421 extending in the one direction and screwed into the female screw body 420.

  In the present embodiment, the electric motor 40 is disposed such that the output shaft extends in a direction orthogonal to the center line CL2 of the accommodation space 220 (insertion portion 21) of the apparatus main body 2. That is, the electric motor 40 is fixed to the main body 22 in a state where the output shaft is inserted into the horizontal hole 223 provided in the apparatus main body 2 (main body 22). Note that the tool changer 1 according to the present embodiment includes a cover 44 that covers the electric motor 40, so that dust prevention or the like for the electric motor 40 is achieved.

  As described above, the screw mechanism 42 includes the female screw body 420 that is rotatably provided around the center line CL2 of the insertion portion 21 and the male screw body 421 that extends along the center line CL2 of the insertion portion 21. And a male screw body 421 screwed into the female screw body 420.

  The female screw body 420 is supported by a bearing (radial bearing) Br1 fixed to the main body 22 through a spacer (not shown). In this embodiment, the male screw body 421 of the screw mechanism 42 is concentrically connected to the linear motion body 30 (shaft portion 32). In the present embodiment, trapezoidal screws are employed as the screws of the female screw body 420 and the male screw body 421 constituting the screw mechanism 42.

  As the electric motor 40 is provided in the above-described arrangement, the drive transmission unit 41 according to the present embodiment further includes a gear mechanism 43 that transmits the output (rotational motion) of the electric motor 40 to the screw mechanism 42.

  In the present embodiment, the gear mechanism 43 is coupled to the output shaft of the electric motor 40 and is supported by a bearing (radial bearing) Br2 disposed in the lateral hole 223 of the main body 22 and is orthogonal to the center line CL2. The small-diameter bevel gear 430 is rotatably provided around the center line CL2 via a small-diameter bevel gear 430 that is rotatably provided around an axis extending to the center, and a bearing (thrust bearing) Bs supported on the inner surface of the robot coupling portion 20. And a large-diameter bevel gear 431 that meshes with. As a result, the gear mechanism 43 converts the rotational movement (output) about the output shaft of the electric motor 40 into rotation around an axis (insertion portion 21) extending in a direction orthogonal to the output shaft of the electric motor 40. It is supposed to be. The large-diameter bevel gear 431 is mechanically connected to the female screw body 420. Thus, the female screw body 420 rotates around the center line of the insertion portion 21 together with the large-diameter bevel gear 431.

  And since the electric motor 40 is provided in the drive part 4 with the tool change apparatus 1 which concerns on this embodiment, as shown in FIG.3 and FIG.6, the linear motion body 30 is the 1st limit which is on the one side of one direction. Sensors S <b> 1 and S <b> 2 are provided for recognizing the state where the position has reached and the state where the linear motion body 30 has reached the second limit position on the other side in one direction. Various types of sensors S1 and S2 can be employed, but in the present embodiment, magnetic sensors S1 and S2 are employed. Accordingly, a magnet M that is detected by the magnetic sensors S1 and S2 is attached to the linear motion body 30. In the present embodiment, two magnetic sensors S1 and S2 are provided at an interval in one direction with respect to the apparatus main body 2 (main body portion 22), and one guide body 36 of the pair of guide bodies 36 and 36 is provided. The magnet M is attached to. Thereby, when one magnetic sensor S1 detects the magnet M, the tool changer 1 according to the present embodiment determines that the linear motion body 30 has reached the second limit position, and the other magnetic sensor S2 has the magnet. When M is detected, it is determined that the linear moving body 30 has reached the first limit position.

  The tool changer 1 according to this embodiment is as described above. Next, the operation of the tool changer 1 having the above configuration will be described.

  In attaching the tool 5 to the tool changer 1, the linear motion body 30 is located at the second limit position. In this state, as shown in FIG. 7, the pressing portion 33 of the linear moving body 30 does not press the plurality of locking members 31, and the plurality of locking members 31 are retracted into the insertion portion 21. Yes. In this state, the insertion portion 21 of the apparatus main body 2 is inserted into the cavity 53 of the tool 5 (tool main body 51). At this time, as shown in FIG. 8, the outer periphery of the insertion portion 21 is guided by the inner peripheral surface of the engagement portion 54, and the insertion portion 21 and the cavity portion 53 are concentric. The guide pin 24 is inserted into the guide hole 55 of the tool 5 as the insertion portion 21 enters the hollow portion 53. Thereby, the tool 5 and the tool changer 1 are positioned.

  Then, the electric motor 40 of the tool changer 1 is driven in a state where the device main body 2 (second end P4 of the main body 22) in the tool changer 1 is in contact with the first end P1 of the tool main body 51 of the tool 5. The Then, the output of the electric motor 40 is transmitted to the female screw body 420 of the screw mechanism 42 through the gear mechanism 43, and the female screw body 420 rotates around the center line CL2 of the insertion portion 21. Accordingly, as shown in FIG. 9, the male screw body 421 screwed into the female screw body 420 moves to one side in one direction. That is, the linear moving body 30 moves toward the first limit position.

  As the linear motion body 30 moves, the pressing portion 33 (tapered portion 330) presses each of the plurality of lock members 31,..., And each of the plurality of lock members 31,. Move towards

  When the linear moving body 30 reaches the first limit position, the other magnetic sensor S2 detects the magnet M, and the drive of the electric motor 40 is stopped. In this state, each of the plurality of lock members 31,... Protrudes outward from the outer periphery of the insertion portion 21, and each of the plurality of lock members 31,. Engage with. Thereby, the insertion part 21 of the apparatus main body 2 cannot escape from the cavity 53 of the tool 5.

  In this state, only the shaft portion 32 of the shaft portion 32 and the pressing portion 33 constituting the linear motion body 30 is positioned at a fixed position, whereas the shaft portion 32 and the pressing portion 33 constituting the linear motion body 30 is The pressing portion 33 that can move in one direction is pressed against the second end P6 side (one side in one direction) of the insertion portion 21 by the urging force of the elastic body 34 (the state that is about to move).

  Then, when exchanging the tool 5, the electric motor 40 of the tool exchanging device 1 is driven (reversed). Then, the output of the electric motor 40 is transmitted to the female screw body 420 of the screw mechanism 42 via the gear mechanism 43, and the female screw body 420 rotates around the center line CL 2 of the insertion portion 21 and is screwed onto the female screw body 420. The combined male screw body 421 moves to the other side in one direction. That is, the linear moving body 30 moves toward the second limit position.

  Accordingly, the pressing portion 33 is released from the pressure contact with each of the plurality of lock members 31, and the plurality of lock members 31 at the first position are movable toward the second position. Become. That is, the plurality of lock members 31,... Are movable in a direction orthogonal to one direction.

  When the linear moving body 30 reaches the second limit position, one magnetic sensor S1 detects the magnet M and the drive of the electric motor 40 is stopped. As described above, since each of the plurality of lock members 31 is in a retracted state or retractable state in the insertion portion 21, the robot R is operated to move the tool changer 1. Thus, the insertion portion 21 of the apparatus main body 2 escapes from the cavity portion 53 of the tool 5 while the engagement between each of the plurality of lock members 31,... And the engagement portion 54 of the tool 5 is released. Therefore, the tool changer 1 having the above configuration can smoothly attach and detach the tool 5 by engaging and releasing the lock members 31 to the engaging portion 54 of the tool 5.

  And the tool change apparatus 1 of the said structure will wear the press part 33 and the lock members 31, ..., when the attachment or detachment of the tool 5 is repeated like the conventional one. In the present embodiment, since the drive unit 4 includes the screw mechanism 42 and the gear mechanism 43, wear occurs in the drive transmission unit 41 in addition to the pressing unit 33 and the lock members 31,.

  However, in the lock mechanism 3 of the tool changer 1 according to the present embodiment, as described above, the shaft portion 32 and the pressing portion 33 of the linear motion body 30 in the state where the linear motion body 30 has reached the first limit position. While only the shaft portion 32 is located at a fixed position, the pressing portion 33 movable in one direction among the shaft portion 32 and the pressing portion 33 constituting the linear motion body 30 is urged by the elastic body 34. It becomes a state.

  Therefore, even if wear occurs in various places, the pressing portion 33 presses the plurality of lock members 31,... While applying a necessary urging force toward one side in one direction. That is, the pressing portion 33 is supplemented with the pressing force in one direction of the pressing portion 33 by the elastic force of the elastic body 34 in addition to pressing against the plurality of lock members 31,. A plurality of lock members 32,... Are pressed while applying a necessary pressing force in one direction.

  Therefore, even if wear occurs in various places, each of the plurality of lock members 31,... Properly engages (presses) with the engagement portion 54 of the tool 5 in a state of protruding outward from the outer periphery of the insertion portion 21. Thereby, even if the tool changer 1 according to the present embodiment is used for a long period of time, the tool 5 can be properly attached.

  In the present embodiment, the elastic body 34 has a first end P9 and a second end P10 opposite to the first end P9, and the shaft portion 32 receives the first end P9 of the elastic body 34. A first receiving part 322 is provided, and the pressing part 33 is provided with a second receiving part 334 that faces the first receiving part 322 in the one direction and receives the second end P10 of the elastic body 34. . Thereby, the urging force by the elastic body 34 can be efficiently transmitted to the pressing part 33, and the pressing part 33 is pressed against the plurality of lock members 31,. It can be engaged in the state.

In particular, in the present embodiment, the pressing portion 33 is connected to the base portion 335 that is movable in one direction with respect to the shaft portion 32 of the linear motion body 30, and the first end P7 side of the shaft portion 32 relative to the base portion 335. And a separation tip 336 that is detachably connected to the base body 335, the first receiving part 322 is disposed in the base part 335, and the second receiving part 334 is connected to the separation tip 336. Since the elastic body 34 is provided, replacement of the elastic body 34 is easy.

More specifically, the separation tip portion 336 provided with the second receiving portion 334 is separated from the base portion 335 in which the first receiving portion 322 of the shaft portion 32 is disposed, so that the inside of the pressing portion 33 is The elastic body 34 is exposed. Therefore, the elastic body 34 in the pressing portion 33 can be easily taken out (replaced). Thereby, even if the elastic body 34 cannot exhibit a constant urging force due to aging, the pressing portion 33 is pressed against the plurality of engaging portions 54 over a long period of time by replacing the elastic body 34. Can do. That is, the tool changer 1 according to the present embodiment can appropriately press the pressing portion 33 against the plurality of engaging portions 54 by managing the urging force of the elastic body 34.

  Therefore, when the elastic body 34 (the disc springs 341,...) Is replaced or when the tool changer 1 is assembled, it is necessary to check the urging force (biased state) of the elastic body 34. The tool changer 1 according to the present embodiment is provided with a stepped hole 331 penetrating the pressing portion 33, and an elastic body 34 is internally provided in the large diameter portion 332 of the stepped hole 331, and the stepped hole 331 is provided. The shaft portion 32 (small diameter portion 320) that receives the urging force of the elastic body 34 is inserted into the shaft portion 32, and the first end P7 of the shaft portion 32 is visible from the stepped hole 331 (small diameter portion 333). Therefore, in a state where the linear motion body 30 is at the first limit position, the arrangement of the first end P7 of the shaft portion 32 exposed from the small diameter portion 333 of the stepped hole 331 is confident (the pressing portion 33 and the shaft portion 32 By confirming the relative arrangement), the urging force exerted by the elastic body 34 can be confirmed.

  Further, since the elastic body 34 according to the present embodiment is composed of a plurality of disc springs 341,... Stacked in one direction, the number of the disc springs 341,. The power can be easily adjusted to an appropriate force.

  Further, in the present embodiment, the drive unit 4 includes an electric motor 40 that outputs a rotational motion, a female screw body 420 that rotates about an axis that is transmitted in the rotational motion of the electric motor 40 and extends in one direction, and a one-way direction. And a drive transmission portion 41 including a screw mechanism 42 having a male screw body 421 threadedly engaged with the female screw body 420, and the shaft portion 32 of the linear motion body 30 is coupled to the male screw body 421. Even in an area without an air supply source, the tool 5 can be properly connected (attached) by driving the electric motor 40.

  Further, each of the plurality of lock members 31,... Is formed of a spherical body, and the pressing portion 33 has a taper portion 330 in part, and the taper portion 330 presses each of the plurality of lock members 31,. Therefore, since each of the plurality of lock members 31,... Moves toward the second position, the engagement between the engagement portion 54 of the tool 5 and the lock members 31,. As a result, the tool 5 is securely fixed.

  In addition, this invention is not limited to the said embodiment, Of course, it can change suitably in the range which does not deviate from the summary of this invention.

  In the above embodiment, the elastic body 34 is constituted by a plurality of disc springs 341,..., But is not limited to this. For example, the elastic body 34 may be configured by a coil spring. Moreover, when the elastic force (biasing force) of the elastic body 34 is ensured, the elastic body 34 may be comprised with a rubber material.

  In the above embodiment, trapezoidal screws are used as the screws of the screw mechanism 42 (the female screw body 420 and the male screw body 421). However, the present invention is not limited to this, and various screw structures can be adopted. For example, a ball screw in which the female screw body 420 and the male screw body 421 are screwed through a plurality of balls may be employed.

  In the above-described embodiment, the gear mechanism 43 includes the small-diameter bevel gear 430 and the large-diameter bevel gear 431. However, the present invention is not limited to this. For example, when the gear mechanism 43 is provided, the gear mechanism 43 may be a worm having a worm gear and a worm wheel, or a hypoid having a hypoid gear and a hypoid pinion.

  In the above embodiment, the drive unit 4 includes the electric motor 40, but the present invention is not limited to this, and an air motor may be employed instead of the electric motor 40 on the assumption that the drive transmission unit 41 is provided. Good. In consideration of reducing the size of the entire tool changer 1 and the point that airlessness is recommended in various factories, it is preferable that the drive unit 4 includes an electric motor 40. Needless to say.

  In the above embodiment, the outer fitting member 37 is fitted on the large-diameter shaft portion 321 of the shaft portion 32, and the first receiving portion 322 configured by the end surface of the large-diameter shaft portion 321 via the outer fitting member 37 is an elastic body. However, the present invention is not limited to this. For example, the first end P9 of the elastic body 34 may be directly received by the first receiving portion 322 of the large-diameter shaft portion 321 of the shaft portion 32.

In the above-described embodiment, the pressing portion 33 is configured by the base portion 335 and the separation tip portion 336 that can be separated from the base portion 335, but is not limited thereto. For example, the pressing part 33 may be integrally formed.

  In the above embodiment, the drive unit 4 including the electric motor 40 and the drive transmission unit 41 is employed. However, the drive unit 4 is not limited to this, and the drive unit 4 may move the linear motion body 30 in one direction. That's fine. Specifically, as shown in FIG. 10, the drive unit 4 includes a piston 46 coupled to the second end P8 of the shaft portion 32 of the linear motion body 30, the piston 46 disposed inside, A cylinder 47 to which a fluid (generally pressurized air) is supplied and may be provided with a cylinder 47 formed in the apparatus main body 2 (main body portion 22). In this case, since the inside of the cylinder 47 is partitioned into the first space A1 and the second space A2 with the piston 46 as a boundary, the linear motion body 30 is advanced by supplying fluid to the first space A1 (one). The linear motion body 30 can be moved backward (moved to the other side in one direction) by supplying the fluid to the second space A2. Therefore, similarly to the above-described embodiment, the pressing portion 33 of the linear moving body 30 appropriately presses the lock members 31,..., And the tool 5 can be properly attached.

  In the said embodiment, although the lock member 31 was comprised with the spherical body, it is not limited to this. For example, as shown in FIG. 11, the lock member 31 has a first end P13 and a second end P14 opposite to the first end P13, and the first end P13 and the second end. It may be a so-called cam type supported by the apparatus main body 2 via a shaft 310 extending in a direction orthogonal to one direction between P14. The lock member 31 rotates around the shaft 310 as a fulcrum by switching between urging in one direction with respect to the first end P13 side and release thereof, and the second end P14 is outward from the outer periphery of the insertion portion 21. The protruding state and the state where the second end portion P14 is retracted into the insertion portion 21 are switched. Accordingly, the pressing portion 33 of the linear moving body 30 is formed so that the first end portion P13 of the lock member 31 can be pressed (latched) in one direction. However, also in this case, the pressing portion 33 is connected to the shaft portion 32 so as to be movable in one direction, and is naturally urged from the shaft portion 32 side by the elastic body 34. Further, as shown in FIG. 12, a cam type lock member 31 and a drive unit 4 including a piston 46 and a cylinder 47 may be provided.

  In the above embodiment, when the linear motion body 30 moves to one side in one direction (moves toward the first limit position), the pressing portion 33 presses the plurality of lock members 31,. The members 31,... Are projected from the outer periphery of the insertion portion 21, but the present invention is not limited to this. For example, when the linear motion body 30 moves to the other side in one direction (moves toward the second limit position), the pressing portion 33 presses the plurality of lock members 31,. May be made to protrude from the outer periphery of the insertion portion 21. In this case, the pressing portion 33 is connected to the shaft portion 22 so as to be movable in one direction, and the elastic body 34 biases the pressing portion 33 to the other side (second limit position side) in one direction. It may be provided in. Even in this case, when wear occurs in various places, the pressing force in one direction of the pressing portion 33 is supplemented by the elastic force of the elastic body 34, and the pressing portion 33 applies the necessary pressing force in one direction. The plurality of lock members 31,.

DESCRIPTION OF SYMBOLS 1 ... Tool change apparatus, 2 ... Apparatus main body, 3 ... Lock mechanism, 4 ... Drive part, 5 ... Tool, 20 ... Robot connection part, 21 ... Insertion part, 22 ... Main body part, 23 ... Connector box, 24 ... Guide pin , 30 ... Linear motion body, 31 ... Lock member, 32 ... Shaft part, 33 ... Pressing part, 34 ... Elastic body, 35 ... Connecting shaft, 36 ... Guide body, 37 ... Outer fitting member, 40 ... Electric motor, 41 ... Drive Transmission part 42 ... Screw mechanism 43 ... Gear mechanism 44 ... Cover 46 ... Piston 47 ... Cylinder 50 ... Function part 51 ... Tool body 52 ... Connecting part 53 ... Cavity part 54 ... engaging part 55 ... guide hole, 211 ... hole, 220 ... accommodating space, 221 ... large diameter hole, 222 ... small diameter hole, 223 ... horizontal hole, 224 ... guide groove, 310 ... shaft, 320 ... small diameter shaft, 321 ... large Diameter shaft part, 322 ... First receiving part, 323 ... Shaft insertion hole 330 ... taper portion, 331 ... hole 332 ... larger diameter portion, 333 ... smaller diameter portion, 334 ... second receiving portion, 335 ... base section, 336 ... separation tip, 337 ... large diameter section, 338 ... small base 339 ... small diameter taper part, 340 ... shaft insertion hole, 341 ... disc spring, 360 ... shaft insertion hole, 370 ... shaft insertion hole, 420 ... female screw body, 421 ... male screw body, 430 ... small diameter bevel gear, 431 ... large diameter Bevel gear, A1 ... first space, A2 ... second space, CL1, CL2 ... center line, M ... magnet, P1, P3, P5, P7, P9, P11 ... first end, P13 ... first end, P2 , P4, P6, P8, P10, P12 ... second end, P14 ... second end, R ... robot, S1, S2 ... sensor (magnetic sensor)

Claims (6)

A tool having a tool body including a concave or hole-like cavity portion opened on the outer surface and an engagement portion arranged around the center of the cavity portion in the cavity portion is replaceably attached to the robot. A tool changer according to claim 1, wherein the main body includes a robot coupling portion coupled to the robot, and an insertion portion that can be inserted into the hollow portion and has a center line extending in one direction. A locking mechanism for fixing the tool to the apparatus main body in a state where the insertion part is inserted into the cavity, and a drive unit for operating the locking mechanism, and the locking mechanism is provided within the apparatus main body. A linear motion body provided so as to be reciprocable in one direction, and a plurality of locking members arranged around the center line of the insertion portion, the linear motion body having an axial center in the one direction. A shaft portion having the shaft portion, and the shaft portion A pressing portion movably coupled in the one direction, the pressing portion disposed in the insertion portion, and an elastic body that urges the pressing portion toward one side in the one direction. The drive unit is configured to move the linear moving body in the one direction, and the pressing unit is in a state where at least the linear moving body has reached a movement limit position on either side of the one direction, The force acting on the pressing portion is formed so as to act on one side of the one direction or a component force of the force as a pressing force on the plurality of lock members, and the linear motion body is formed in the one direction. By moving to one of the sides, the pressing portion presses each of the plurality of locking members, and a part of each of the plurality of locking members protrudes outward from the outer periphery of the insertion portion. The moving body is directed to either side of the one direction. By moving Te, tool changer, characterized in that each of said plurality of locking members are configured to allow retraction to or retracted to the insertion portion.   The elastic body has a first end and a second end opposite to the first end, and the shaft portion is provided with a first receiving portion for receiving the first end of the elastic body, The part is provided with a second receiving part that is opposed to the first receiving part in the one direction and receives the second end of the elastic body. Tool changer.   The pressing portion is disposed on the first end side of the shaft portion with respect to the base portion connected to the first end side of the shaft portion of the linear motion body so as to be movable in the one direction. The tool changer according to claim 2, further comprising: a separation tip portion that is detachably connected to the base portion, and the second receiving portion is provided at the separation tip portion. apparatus.   4. The tool changer according to claim 2, wherein the elastic body includes a plurality of disc springs stacked in the one direction. 5.   The drive unit includes: an electric motor that outputs a rotary motion; a female screw body that rotates around an axis that is transmitted with the rotary motion of the electric motor and extends in the one direction; and the female screw body that extends in the one direction. 5. A drive transmission portion including a screw mechanism having a male screw body screwed together, wherein the shaft portion is coupled to the male screw body. Tool changer. Each of the plurality of lock members is configured by a sphere provided to be movable in a direction orthogonal to the one direction, and the pressing portion has a first end and a second end opposite to the first end at the one end. A plurality of locks having a taper portion having a diameter reduced from the first end side toward the second end side at least in part, and the taper portion pressing each of the plurality of lock members. Each of the members is in a state of protruding outward from the outer periphery of the insertion portion, and the pressing of the tapered portion against the plurality of lock members is released, so that each of the plurality of lock members retracts or retracts into the insertion portion. The tool changer according to any one of claims 1 to 5, wherein the tool changer is configured to be in a possible state.

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