WO2024252501A1 - Plaque maîtresse et dispositif d'échange d'outil - Google Patents

Plaque maîtresse et dispositif d'échange d'outil Download PDF

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Publication number
WO2024252501A1
WO2024252501A1 PCT/JP2023/020898 JP2023020898W WO2024252501A1 WO 2024252501 A1 WO2024252501 A1 WO 2024252501A1 JP 2023020898 W JP2023020898 W JP 2023020898W WO 2024252501 A1 WO2024252501 A1 WO 2024252501A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
tool
detection sensor
piston member
master plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2023/020898
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English (en)
Japanese (ja)
Inventor
一樹 矢野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BL Autotec Ltd
Original Assignee
BL Autotec Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BL Autotec Ltd filed Critical BL Autotec Ltd
Priority to JP2025525475A priority Critical patent/JPWO2024252501A1/ja
Priority to KR1020257042491A priority patent/KR20260015240A/ko
Priority to CN202380098939.3A priority patent/CN121219115A/zh
Priority to PCT/JP2023/020898 priority patent/WO2024252501A1/fr
Publication of WO2024252501A1 publication Critical patent/WO2024252501A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0466—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with means for checking exchange completion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Definitions

  • This disclosure relates to a master plate and a tool exchange device.
  • Some robot arms used in manufacturing sites are equipped with a tool changer so that they can be used to change between various tools.
  • This type of tool changer for a robot arm allows a single robot to perform multiple tasks by changing tools, making the robot more multifunctional and shortening setup times, which can contribute to high-mix, low-volume production.
  • this tool changing device has a master plate that is attached to the robot and a tool plate to which a tool is attached.
  • the master plate is configured so that the tool plate can be attached and detached freely, and this attachment and detachment allows the robot to change tools suitable for the task.
  • One such tool changing device known is one that includes a fixed plate (master plate), a tool plate (tool plate), and a detection means for detecting the size of the gap between these plates (JP Patent Publication 7-186079).
  • the tool changing device described in Patent Document 1 is said to be equipped with a detection means that can detect whether the mounting state of the master plate and the tool plate is correct or abnormal.
  • the tool changing device is required to be able to monitor the mounting and detachment state of the tool plate to ensure safety, and at the same time, it is required to be compact and lightweight to improve workability.
  • the detection means is located in a hole formed in the master plate, but because this hole is formed away from the cylinder bore, it may not be easy to achieve miniaturization.
  • the present disclosure aims to provide a master plate that can monitor the attachment/detachment status of a tool plate and can be made compact.
  • a master plate that is attached to a robot arm and that allows a tool plate that holds a tool to be attached and detached, and includes a piston member that reciprocates to allow the tool plate to be attached and detached, and a detector that detects a first position of the piston member where the tool plate is attached and a second position of the piston member where the tool plate is detached, a bottomed hole portion is formed in the piston member, the detector has a detection sensor and a detectable portion that is detected by the detection sensor, and at least a portion of the detectable portion is disposed within the hole portion.
  • the master plate disclosed herein can monitor the attachment/detachment status of the tool plate and can be made compact.
  • FIG. 1 is a schematic plan view of a tool exchange device according to an embodiment of the present invention, seen from the master plate side.
  • FIG. 2 is a schematic side view of the tool exchange apparatus of FIG. 1, showing a state in which the master plate and the tool plate are separated from each other.
  • FIG. 3 is a cross-sectional view taken along line AA of FIG.
  • FIG. 4 is a schematic cross-sectional side view showing a mounting state of the master plate and the tool plate in the tool exchanger of FIG.
  • FIG. 5 is a schematic enlarged view showing a side surface of a detection target portion of a detector provided on the master plate of FIG.
  • FIG. 6 is a schematic enlarged view showing the AA cross section of FIG.
  • One aspect of the present disclosure is a master plate that is attached to a robot arm and that allows a tool plate that holds a tool to be detached, and that includes a piston member that reciprocates to allow the tool plate to be detached, and a detector that detects a first position of the piston member where the tool plate is attached and a second position of the piston member where the tool plate is detached, in which a bottomed hole is formed in the piston member, and the detector has a detection sensor and a detectable portion that is detected by the detection sensor, and at least a portion of the detectable portion is disposed within the hole.
  • the master plate is equipped with a detector that detects a first position, which is a tool plate attachment position of the piston member that reciprocates on the master plate, and a second position, which is a tool plate detachment position. This makes it easy to monitor the attachment/detachment state of the tool plate.
  • the detector has a detection sensor and a detectable part that is detected by the detection sensor, and at least a part of the detectable part is disposed within a hole formed in the piston member. In other words, a part of the detector is disposed inside a member that the master plate comprises. This makes it possible to reduce the space (area) required for arranging the detector on the master plate, and makes it easy to miniaturize the master plate.
  • the detectable portion may have a dog erected at the bottom of the hole, and a detectable block disposed on the dog and detected by the detection sensor, and the detectable block may be disposed rotatably in the circumferential direction of the dog. In this way, the attachment/detachment state of the tool plate can be monitored with high accuracy.
  • the detection sensor may include a first detection sensor that detects the first position and a second detection sensor that detects the second position
  • the detectable block may include a first detectable block detected by the first detection sensor and a second detectable block detected by the second detection sensor
  • the first detection sensor and the second detection sensor may be disposed on a virtual plane perpendicular to the direction in which the piston member reciprocates. This makes it easier to reduce the size of the master plate.
  • a mounting plate may be further provided that is attached to the surface opposite to the surface to which the tool plate is attached, and the detection sensor may be disposed on the mounting plate. In this way, it is possible to further easily reduce the size of the master plate.
  • One aspect of the present disclosure is a tool exchange device that includes a tool plate that holds a tool and a master plate as described above in (1) to (4) above to which the tool plate can be attached and detached.
  • the tool exchange device is equipped with the above-mentioned master plate, so it can monitor the attachment/detachment status of the master plate and the tool plate, and can be made compact.
  • a tool exchange device 1 mainly includes a tool plate 20 that holds a tool (not shown) and a master plate 30 to which the tool plate 20 can be attached and detached.
  • the master plate 30 is attached to, for example, a robot arm (not shown), and allows multiple tool plates holding different tools to be attached and detached as desired. This allows the robot arm to exchange various tools (tool plates).
  • the master plate 30 comprises a master plate main body 300 having a main body portion 310 having an attachment surface 311, and an insertion portion 320 protruding from a surface 312 opposite to the attachment surface 311 of the main body portion 310 and to be inserted into the tool plate 20, a piston member 340 which reciprocates in a piston hole portion 330 formed in the master plate main body 300 to enable the tool plate 20 to be attached or detached, and a detector 400 which detects a first position (attached position, see FIG. 4) of the piston member 340 to which the tool plate 20 is attached and a second position (detached position, see FIG. 3) of the piston member 340 to which the tool plate 20 is detached.
  • Slide members 381, 382 are arranged between an inner circumferential surface 323 of the piston hole portion 330 and an outer circumferential surface of the piston member 340.
  • the master plate 30 further includes a mounting plate 360 that is attached to the mounting surface 311.
  • the mounting surface 311 is formed with a spigot 311a into which the outer periphery of the mounting plate 360 fits. By fitting the outer periphery of the mounting plate 360 into this spigot 311a, the mounting plate 360 is at least partially inserted into the main body 310, so that the thickness (vertical size) of the master plate 30 can be reduced.
  • the master plate body 300 has a body portion 310 and an insertion portion 320, and a piston hole portion 330 is formed so as to penetrate the center of the body portion 310. It is preferable that each side surface 313 of the body portion 310, which connects the mounting surface 311 and the opposite surface 312, is at least partially formed as a flat surface.
  • the body portion 310 of this embodiment is formed in a substantially rectangular shape in a plan view, and has four flat side surfaces 313. It is preferable that the corners of the body portion 310 in a plan view are chamfered. Since the side surfaces 313 are at least partially formed as flat surfaces, an expansion unit (not shown) such as an electric connector, a liquid connection unit, a sensor unit, etc. can be easily arranged on the flat portions, and the function of the tool exchange device can be easily expanded.
  • the insertion portion 320 is formed to protrude from the opposite surface 312 of the main body portion 310, and has a generally circular shape in a plan view.
  • the insertion portion 320 is inserted into the insertion hole portion 211 of the tool plate 20.
  • the insertion portion 320 functions as a connection portion between the master plate 30 and the tool plate 20.
  • the outer diameter of the insertion portion 320 in the lateral direction is formed to be smaller than the outer width (the distance between the opposing side surfaces 313) of the main body portion 310. In this way, the outer width of the tool plate 20 can be made approximately the same as the outer width of the master plate 30.
  • the main body 310 and the insertion portion 320 are preferably integrally formed from a light metal or resin.
  • Light metals are not particularly limited, and examples thereof include aluminum, magnesium, and titanium.
  • Resins are not particularly limited, and examples thereof include fiber-reinforced plastics, carbon fiber-reinforced plastics, engineering plastics, thermosetting resins, and thermoplastic resins.
  • the main body 310 has a pair of guide pins 314, 315.
  • the pair of guide pins 314, 315 are located symmetrically at the center of the insertion part 320 on the diagonal line of the main body 310, and are erected approximately vertically on the opposite surface 312.
  • the axial direction of the guide pins 314, 315 and the axial direction of the insertion part 320 are approximately parallel, and the height of the guide pins 314, 315 (the distance from the opposite surface 312 to the lower end) is greater than the height of the insertion part 320.
  • the tool plate 20 is formed with a pair of guide holes (not shown) into which the pair of guide pins 314, 315 are inserted.
  • the lower tips of the guide pins 314, 315 are formed approximately hemispherically.
  • the cross section of one guide pin 314 is approximately circular, and the cross section of the other guide pin 315 has a pair of parallel straight sections and a pair of arc sections connecting the pair of straight sections.
  • one guide pin 314 is an approximately cylindrical member, and the other guide pin 315 is a columnar member with a pair of flat sections formed on the circumferential surface (curved surface) of the cylinder.
  • the diameter of the pair of curved surfaces (arc portions) of the other guide pin 315 is the same as the diameter of the one guide pin 314.
  • the pair of flat surfaces of the other guide pin 315 are formed so that the surfaces are approximately parallel to each other, and the normal lines are approximately parallel to an imaginary line passing through the centers of the pair of guide pins 314, 315.
  • the pair of guide holes are formed with an inner diameter approximately equal to the outer diameter of one guide pin 314.
  • the piston hole portion 330 is formed to penetrate the main body portion 310 and the insertion portion 320.
  • the shape of the piston hole portion 330 in a plan view is approximately circular, and the centers of the main body portion 310, the insertion portion 320, and the piston hole portion 330 are common.
  • the piston hole portion 330 of this embodiment includes a first hole portion 331 formed in the insertion portion 320 and a second hole portion 332 formed in the main body portion 310, whose central axis is common to the central axis of the first hole portion 331 and whose inner diameter is larger than the inner diameter of the first hole portion 331.
  • a step portion (connection surface) 333 that connects the first hole portion 331 and the second hole portion 332 is formed below the main body portion 310.
  • the step portion 333 of this embodiment is formed as a surface parallel to the horizontal direction. That is, a flat step portion 333 is formed at the boundary between the first hole portion 331 and the second hole portion 332.
  • the step portion 333 has a protruding portion 334 that protrudes toward the mounting surface 311 and whose inner circumferential surface is continuous with the inner circumferential surface of the first hole portion 331.
  • the protruding portion 334 is formed in a substantially cylindrical shape at the opening edge of the first hole portion 331 in the step portion 333 so that its inner circumferential surface is flush with the inner circumferential surface of the first hole portion 331.
  • the piston hole portion 330 is formed as a cylinder chamber of the piston member 340.
  • the opening above the piston hole portion 330 (the opening on the mounting surface 311 side of the second hole portion 332) is sealed by a mounting plate 360.
  • the mounting plate 360 may be attached to the mounting surface 311 via a sealing member (not shown) such as an O-ring to keep the inside of the second hole portion 332 airtight.
  • the insertion portion 320 is provided with an engagement member for mounting the tool plate 20.
  • eight balls 370 are used as the engagement members.
  • the balls 370 are disposed in ball holes 321 drilled in the insertion portion 320.
  • the balls 370 move (roll) laterally due to the reciprocating motion of the piston member 340. Specifically, a portion of the ball 370 protrudes onto the outer peripheral surface 322 of the insertion portion 320 due to the forward movement (downward movement) of the piston member 340, and the protruding portion becomes movable into the outer peripheral surface 322 due to the return movement (upward movement) of the piston member 340.
  • the protruding portion comes into contact with the engagement surface 222 of the tool plate 20, thereby fixing the tool plate 20 to the master plate 30.
  • a retaining member 371 for retaining the ball 370 is disposed in the ball hole 321.
  • the retaining member 371 is a substantially annular member, and is disposed in the ball hole 321, for example, by being fitted therein.
  • the front and back surfaces of the retaining member 371 are formed so as not to protrude from the outer peripheral surface 322 and inner peripheral surface 323 of the insertion portion 320.
  • the inner peripheral surface of the retaining member 371 along which the ball 370 moves is tapered on the outer peripheral surface 322 side of the insertion portion 320 to prevent the ball 370 from escaping to the outer peripheral surface 322 side of the insertion portion 320.
  • the inner peripheral surface of the retaining member 371 has a protrusion that protrudes partially on the outer peripheral surface 322 side of the insertion portion 320.
  • the holding member 371 is preferably formed from an oil-impregnated metal or oil-impregnated ceramics, and it is more preferable that the metal is a heavy metal. It is even more preferable that the metal is a sintered material. In this way, the ball 370 can be moved smoothly while maintaining its strength, and wear and damage to the ball 370 and holding member 371 can be suppressed. This improves the durability and maintainability of the ball 370 and holding member 371, and ultimately the tool exchange device 1.
  • the piston member 340 reciprocates within the piston hole 330.
  • the piston member 340 is composed of a first portion 341 corresponding to the first hole 331 and a second portion 342 corresponding to the second hole 332. That is, the piston member 340 has the first portion 341 formed so as to be able to reciprocate within the first hole 331, and the second portion 342 formed so as to be able to reciprocate within the second hole 332.
  • the first portion 341 and the second portion 342 may be formed integrally, or may be formed separately and joined together.
  • the means for reciprocating the piston member 340 is not particularly limited, and for example, the piston member 340 may be reciprocated by supplying and discharging a fluid such as air into and from the second hole portion 332 to increase and decrease the pressure, or the piston member 340 may be reciprocated electrically.
  • a cam 344 is formed on the outer peripheral surface (side surface) at the lower end of the first portion 341.
  • the cam 344 is formed as an inclined surface that inclines inward (toward the shaft) as it goes downward.
  • the cam 344 abuts against and presses the ball 370 as the piston member 340 moves forward, and a part of the ball 370 is pushed out from the outer peripheral surface 322 of the insertion portion 320, and this part engages with the engagement surface 222 of the tool plate 20, and the opposite surface 312 of the main body portion 310 of the master plate 30 and the mounting surface 214 of the tool plate 20 come into close contact.
  • the piston member 340 is restricted from moving forward when the lower surface 342a of the second portion 342 abuts against the step portion 333.
  • the ball 370 pushed out by the piston member 340 abuts against the engagement surface 222 of the tool plate 20, and the opposite surface 312 of the master plate 30 and the attachment surface 214 of the tool plate 20 come into close contact with each other, thereby restricting the forward movement of the piston member 340.
  • the lower surface 342a of the second portion 342 does not need to abut against the step portion 333.
  • the restriction of the return movement of the piston member 340 is not particularly limited, and for example, the return movement may be restricted when the upper surface 342b of the second portion 342 abuts against the mounting plate 360.
  • the second part 342 is formed with a recessed part 343 that does not come into contact with the protruding part 334.
  • the second part 342 has a recessed part 343 formed on the lower surface 342a that comes into contact with the step part 333, the recessed part 343 being formed to accommodate the protruding part 334.
  • the recessed part 343 is an annular recess formed as a relief for the protruding part 334.
  • the inner circumferential surface of the protruding portion 334 functions as a guide surface that guides the reciprocating motion of the first portion 341 together with the inner circumferential surface of the first hole portion 331 that is continuous with the protruding portion 334. That is, by forming the protruding portion 334 in the second hole portion 332, the guide surface for the reciprocating motion of the first portion 341 can be partially provided in the second hole portion 332. Also, by forming the recessed portion 343 in the second portion 342, the stroke of the second portion 342 in the second hole portion 332 can be ensured.
  • the protruding portion 334 and the recessed portion 343 the guide surface of the first portion 341 and the guide surface (inner circumferential surface) of the second portion 342 can be overlapped. Therefore, the height of the insertion portion 320 can be suppressed while ensuring the stability of the reciprocating motion of the piston member 340, and thus the master plate 30 can be easily thinned while ensuring the reliability of mounting the tool plate 20.
  • the piston member 340 is formed with a bottomed hole 345. That is, the piston member 340 is formed with a bottom portion 346 at the bottom and is open at the top.
  • the bottom portion 346 is formed with a dog receiving portion 347 for erecting the dog 430 of the detector 400.
  • the dog receiving portion 347 is substantially cylindrical, and is provided on the bottom portion 346 so that its axial direction is substantially parallel to the direction of reciprocation of the piston member 340 (the axial direction of the piston member 340).
  • the inner peripheral surface of the dog receiving portion 347 is threaded.
  • the sliding member is disposed between the inner peripheral surface 323 of the piston hole portion 330 and the outer peripheral surface of the piston member 340.
  • the master plate 30 of this embodiment includes a first sliding member 381 disposed between the inner peripheral surface of the first hole portion 331 and the outer peripheral surface of the first part 341 of the piston member 340, and a second sliding member 382 disposed between the inner peripheral surface of the second hole portion 332 and the outer peripheral surface of the second part 342 of the piston member 340.
  • the sliding members 381 and 382 may make the space (cylinder chamber) formed by the piston hole portion 330 and the piston member 340 airtight.
  • the sliding members 381 and 382 are, for example, O-rings, and are made of silicon, a resin sealing material, fluororubber, nitrile rubber, or the like.
  • grooves 348, 349 in which sliding members 381, 382 are disposed are formed in the piston member 340. Specifically, a first groove 348 in which the first sliding member 381 is disposed is formed in the first portion 341, and a second groove 349 in which the second sliding member 382 is disposed is formed in the second portion 342. The second sliding member 382 is disposed so as to be located below the upper end of the protruding portion 334 when the piston member 340 moves back.
  • the sliding members 381, 382 are disposed on the piston member 340, and not on the master plate body 300.
  • grooves 348, 349 in which the sliding members 381, 382 are disposed are not formed on the master plate body 300.
  • a groove portion for arranging a sliding member is formed in the master plate main body 300, for example, one of the groove portions (the groove portion corresponding to the first groove portion 348) may be formed on the inner peripheral surface of the hole portion of the insertion portion (the portion corresponding to the inner peripheral surface of the first hole portion 331).
  • the stress (load) from the tool plate may concentrate on the groove portion, which may damage the insertion portion.
  • the mounting plate 360 is attached to the mounting surface 311 of the master plate 30.
  • the mounting plate 360 is formed with three or more first mounting holes 361 for mounting to a robot arm, and the master plate 30 is mounted to the robot arm by inserting and fixing bolts through the first mounting holes 361.
  • the first mounting holes 361 are preferably formed to have a pitch interval or P.C.D. (Pitch Circle Diameter) defined by, for example, the ISO standard. In this embodiment, six first mounting holes 361 are formed with a pitch interval of 60 degrees.
  • the mounting plate 360 has bolt holes 362 through which bolts (not shown) are inserted to secure the plate to the master plate body 300.
  • bolt holes 362 are formed adjacent to the first mounting hole 361.
  • the mounting plate 360 preferably has bosses 364 formed on its top surface 363 for positioning relative to the robot arm.
  • the boss 364 is preferably formed in a generally cylindrical shape having a first bottom 365. In this way, the detector 400 can be placed inside the boss 364, and the master plate 30 can be made smaller.
  • the mounting plate 360 may have second mounting holes 366 formed at a different pitch interval or P.C.D. from the first mounting holes 361.
  • the holes for mounting the master plate formed in the robot arm may be formed at a pitch interval or P.C.D. (hereinafter also referred to as "pitch, etc.") specified by the standard, or at a non-standard pitch.
  • the second mounting holes 366 are preferably formed at a pitch that corresponds to a robot arm in which holes for mounting the master plate are formed at a non-standard pitch, or a work tool other than a robot arm. In this way, the versatility of the master plate 30 can be improved.
  • three second mounting holes 366 are formed at 120 degree pitch intervals adjacent to the bolt hole 362.
  • the main body 310 of the master plate 30 has a first bolt hole (not shown) formed at a position corresponding to the first mounting hole 361, through which a bolt (not shown) for fixing the master plate 30 to a robot arm or the like is inserted, and a second bolt hole (not shown) is similarly formed at a position corresponding to the second mounting hole 362.
  • the main body 310 has a female screw hole (not shown) formed at a position corresponding to the bolt hole 362.
  • the detector 400 detects a first position (mounting position) of the piston member 340 to which the tool plate 20 is mounted and a second position (detaching position) of the piston member 340 to which the tool plate 20 is detached. That is, the detector 400 can monitor the mounting state and detachment state of the master plate 30 and the tool plate 20.
  • the detector 400 has a detection sensor and a detected part that is detected by the detection sensor.
  • the detector 400 of this embodiment has, as the detection sensors, a first detection sensor 411 that detects the mounting position and a second detection sensor 412 that detects the removal position. Also, as the detectable parts, it has a first detectable block 421 that is detected by the first detection sensor 411, a second detectable block 422 that is detected by the second detection sensor 412, and a dog 430 on which the first detectable block 421 and the second detectable block 422 are arranged.
  • the dog 430 is erected at the bottom portion 346 of the piston member 340. That is, the dog 430 and the first detectable block 421 and the second detectable block 422 arranged on this dog 430 reciprocate together with the piston member 340.
  • the first detection sensor 411 and the second detection sensor 412 are photosensors
  • the first detectable block 421 and the second detectable block 422 are made of resin.
  • the dog 430 is a generally cylindrical member, and includes a dog first part 431 in which the first detectable block 421 and the second detectable block 422 are arranged in this order from above, a dog second part 432 formed with a diameter larger than that of the dog first part 431, a seat part 433 formed with a diameter larger than that of the dog second part 432, and a male screw part 434 formed with a diameter smaller than that of the seat part 433.
  • the dog 430 is fixed to the piston member 340 by screwing the male screw part 434 into the female screw formed on the inner peripheral surface of the dog receiving part 347.
  • the lower end of the seat part 433 is formed as a seat surface that abuts against the upper end of the dog receiving part 347.
  • the first detectable block 421 and the second detectable block 422 have heads 421a, 422a formed in an approximately rectangular parallelepiped shape and approximately flat legs 421b, 422b extending in one direction from one side of the heads 421a, 422a.
  • the heads 421a, 422a are formed so as to be detected in close proximity to the detection sensor, and the legs 421b, 422b are formed so as to be separated from the detection sensor and not detected.
  • the first detectable block 421 and the second detectable block 422 are arranged so that the legs 421b, 422b abut against the outer peripheral surface of the dog first part 431.
  • the heads 421a, 422a are arranged so as to protrude in a direction perpendicular to the axial direction of the dog 430.
  • the first detectable block 421 and the second detectable block 422 are arranged symmetrically about the center of the dog 430 in a plan view. That is, the first detectable block 421 and the second detectable block 422 are arranged at 180° intervals around the center of the dog 430 in a plan view.
  • the first detectable block 421 is arranged with its head 421a facing upward
  • the second detectable block 422 is arranged with its head 422a facing downward.
  • the piston member 340 may rotate in the circumferential direction due to repeated reciprocation. If the first detectable block 421 and the second detectable block 422 are fixed to the dog 430, they may rotate together with the piston member 340, making the detection by the detection sensor unstable. Alternatively, in order to stabilize the detection by the detection sensor, it may be necessary to arrange the detection sensor so that it can rotate together with the first detectable block 421 and the second detectable block 422, which may complicate the structure of the master plate 30. For this reason, it is preferable that the first detectable block 421 and the second detectable block 422 are arranged so that they can rotate freely in the circumferential direction of the dog 430.
  • the first detectable block 421 and the second detectable block 422 are arranged on the dog 430 so that the relative positions of the first detectable block 421 and the second detectable block 422 to the detection sensor do not change even if the dog 430 rotates. In this way, the stability of detection by the detection sensor can be improved.
  • the first detectable block 421 and the second detectable block 422 are disposed between the step 435 of the dog first part 431 and the dog second part 432 and the ring 440 fitted above the dog first part 431.
  • the first detectable block 421 and the second detectable block 422 are placed on the step 435, and their upper ends (the side surface located above the head 421a of the first detectable block 421 and the end surface located above the leg 422b of the second detectable block 422) abut against the ring 440.
  • the first detectable block 421 and the second detectable block 422 placed on the step 435 of the dog 430 are prevented from falling off the dog 430 by their upper ends abutting against the ring 440.
  • the first detectable block 421 and the second detectable block 422 are not fixed to the dog 430, but are arranged so that they can rotate circumferentially relative to the dog 430. If the head 421a of the first detectable block 421 faces upward and extends above the ring 440, a recess may be formed in the head 421a so that the ring 440 can be fitted into it (see FIG. 5).
  • the first detectable block 421 and the second detectable block 422 in this embodiment are located above the upper surface 342b of the piston member 340 and are disposed within the mounting plate 360.
  • the mounting plate 360 protrudes downward from the first bottom 365 and has a protruding portion 367 that has a bottom and an approximately circular outer periphery, and a dog hole 368a is formed in the second bottom 368 of this protruding portion 367, through which the dog second portion 432 is inserted.
  • a third sliding member 383 is disposed between this dog hole 368a and the dog second portion 432.
  • the inner circumferential surface 369 of the protrusion 367 has, in plan view, a rectangular portion 369a formed to guide the reciprocating motion of the first detectable block 421 and the second detectable block 422, and a pair of arc portions 369b that bulge laterally approximately at the center of the rectangular portion 369a and are formed to guide the reciprocating motion of the dog second portion 432.
  • the rectangular portion 369a of the inner circumferential surface 369 is formed to improve the effect of preventing the first detectable block 421 and the second detectable block 422 from falling off the dog 430.
  • the first detection sensor 411 and the second detection sensor 412 are preferably arranged on a virtual plane perpendicular to the direction in which the piston member 340 reciprocates. In this way, the master plate 30 can be made thinner.
  • the first detection sensor 411 and the second detection sensor 412 are arranged so that their detection surfaces face each other on the first bottom 365 of the mounting plate 360.
  • the first detection sensor 411 is arranged on the first bottom 365 so as to detect the head 421a of the first detectable block 421
  • the second detection sensor 412 is arranged on this first bottom 365 so as to detect the head 422a of the second detectable block 422.
  • the first detection sensor 411, the first detectable block 421, the second detectable block 422, and the second detection sensor 412 are arranged in series in a plan view.
  • the first detection sensor 411 detects the head 421a of the first detected block 421, and the second detection sensor 412 cannot detect the second detected block 422.
  • the second detection sensor 412 detects the head 422a of the second detected block 422, and the first detection sensor 411 cannot detect the first detected block 421.
  • one detection sensor if one detection sensor is in a detection state of the detected part and the other detection sensor is in a non-detection state of the detected part, it can detect that the tool plate 20 is attached, and if the other detection sensor is in a detection state of the detected part and one detection sensor is in a non-detection state of the detected part, it can detect that the tool plate 20 is detached. If the two detection sensors are in a detection state at the same time, or if the two detection sensors are in a non-detection state at the same time, it may be possible to detect that the attachment state of the tool plate 20 is abnormal. In this way, the master plate 30 can monitor the attachment/detachment status of the tool plate 20.
  • the harnesses 411a, 412b that send the signals detected by the first detection sensor 411 and the second detection sensor 412 to a receiving unit (not shown) are preferably arranged in the harness hole 365a formed in the mounting plate 360.
  • the tool plate 20 has a tool plate body 210 and an engagement ring 220.
  • An insertion hole 211 is formed in the tool plate body 210, and the engagement ring 220 is fitted into the insertion hole 211.
  • the insertion hole 211 includes a first insertion hole 212 formed with approximately the same diameter as the outer diameter of the insertion portion 320, and a ring hole 213 whose center is common to the center of the first insertion hole 212 and whose inner diameter is larger than the inner diameter of the first insertion hole 212.
  • a guide surface 215 having an expanded diameter so as to guide the insertion of the insertion portion 320 is formed above the first insertion hole 212 (on the mounting surface 214 side).
  • the tool plate body 210 is preferably formed to have substantially the same shape as the master plate 30 in a plan view.
  • the tool plate body 210 is preferably formed from a light metal or resin. In this way, the weight of the tool exchange device 1 can be reduced.
  • the engagement ring 220 is an annular member, and its outer diameter is formed to be approximately the same as the inner diameter of the ring hole 213.
  • the upper part of the inner circumference is formed as a second insertion hole 221 having the same diameter as the first insertion hole 212, and the lower part of the inner circumference is formed so that the diameter increases downward.
  • the lower part of the inner circumference is formed as an engagement surface 222 that engages with a part of the ball 370 pushed out from the insertion part 320.
  • the engagement surface 222 has a plurality of arc-shaped ball grooves 223 formed so that it can engage (abut) with the ball 370 by a line or a surface.
  • the tool plate 20 has a positioning pin (not shown) for identifying the position of the engagement ring 220 so that the circumferential positions of the ball 370 and the ball groove 223 correspond to each other.
  • the engaging ring 220 is preferably formed from a metal that has been treated to be oil-impregnated, and more preferably the metal is a heavy metal. It is even more preferable that the metal is a sintered material. In this way, the ball 370 can be moved smoothly while maintaining its strength, and wear and damage to the ball 370 and engaging ring 220 can be suppressed. This improves the durability and maintainability of the ball 370 and engaging ring 220, and ultimately the tool exchange device 1.
  • the insertion portion 320 is inserted into the first insertion hole 212 and the second insertion hole 221, and the piston member 340 is moved forward. A part of the ball 370 is pushed outward from the insertion portion 320 by the cam 344, and a part of it comes into contact with the engagement surface 222.
  • the master plate 30 includes a detector 400 that detects the mounting position and removal position of the tool plate 20 of the piston member 340 that reciprocates in a piston hole portion 330 formed in the master plate body 300. This makes it easy to monitor the mounting and removal state of the tool plate 20.
  • the detector 400 has a first detection sensor 411 and a second detection sensor 412, a first detected block 421 and a second detected block 422 that are detected by these detection sensors, and a dog 430 that arranges these detected blocks, and this dog 430 is disposed in a hole portion 345 formed in the piston member 340. This makes it possible to reduce the space (area) required for arranging the dog 430 and the first detected block 421 and the second detected block 422 that are disposed in this dog 430 on the master plate, and makes it easy to reduce the size of the master plate 30.
  • the shapes of the master plate and the tool plate are not limited to being roughly rectangular in plan view, nor are they necessarily limited to having flat portions on the sides.
  • the shapes of the master plate and the tool plate may be roughly circular, semicircular, elliptical, triangular, or polygonal with five or more sides in plan view.
  • the piston hole portion does not have to have a first hole portion and a second hole portion.
  • it may be a hole that passes through the main body portion and the insertion portion with a constant inner diameter.
  • the shape of the guide pin is not particularly limited, and the cross section may be polygonal, for example.
  • the number of guide pins is also not particularly limited.
  • the mounting plate is not limited to being fitted to a spigot formed on the mounting surface.
  • the mounting plate may be placed on a flat mounting surface and fixed in place.
  • the mounting plate may also have mounting holes formed at a certain pitch interval or P.C.D.
  • the number of sliding members arranged on the piston member is not limited to two, but may be one or three or more.
  • the detection sensor is not limited to a photosensor, but may be, for example, a proximity sensor.
  • the detected part is not limited to the dog and detected block described above, and the configuration and shape of the detected part can be changed as appropriate according to the configuration and shape of the master plate.
  • the detection sensor is not limited to being placed on the mounting plate, and may be placed on the main body of the master plate, etc.
  • the upper end of the detectable block is described as contacting the underside of a ring placed above the dog, but this is not limited to this.
  • a bolt may be screwed into the upper end of the dog in the axial direction of the dog, and the underside of the head of the bolt may contact the upper end of the detectable block.
  • the master plate is described as detecting the attached state of the tool plate when one detection sensor is in a detecting state of the detected part and the other detection sensor is in a non-detecting state of the detected part, and detecting the detached state of the tool plate when the other detection sensor is in a detecting state of the detected part and one detection sensor is in a non-detecting state of the detected part, but this is not limited thereto, and the attached state (or detached state) of the tool plate may be detected when two detection sensors are simultaneously in a detecting state of the detected part, and the detached state (or attached state) of the tool plate may be detected when two detection sensors are simultaneously in a non-detecting state of the detected part. In this case, an abnormal attachment state of the tool plate may be detected when only one of the two detection sensors is in a detecting state.
  • the present invention is not limited to this.
  • the tool plate may be in a detached state when the piston member is in a downward position, and the tool plate may be in an attached state when the piston member moves upward.
  • the master plate of the present invention is capable of monitoring the attachment/detachment status of the tool plate and can be made compact, making it suitable for use in tool exchange devices such as robot arms.
  • Tool exchange device 20 Tool plate 210 Tool plate body 211 Insertion hole portion 212 First insertion hole 213 Ring hole 214 Mounting surface 215 Guide surface 220 Engagement ring 221 Second insertion hole 222 Engagement surface 223 Ball groove 30 Master plate 300 Master plate body 310 Body portion 311 Mounting surface 311a Spigot joint 312 Opposite surface (opposite surface to mounting surface) 313 Side surface 314, 315 Guide pin 320 Insertion portion 321 Ball hole 322 Outer peripheral surface 323 Inner peripheral surface 330 Piston hole portion 331 First hole portion 332 Second hole portion 333 Step portion 334 Protruding portion 340 Piston member 341 First portion 342 Second portion 342a Lower surface 342b Upper surface 343 Recessed portion 344 Cam 345 Hole portion 346 Bottom portion 347 Dog receiving portion 348 First groove portion 349 Second groove portion 360 Mounting plate 361 First mounting hole 362 Bolt hole 363 Upper surface 364 Boss 365 First bottom portion 365a Harness hole 366 Second mounting

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Un aspect de la présente divulgation concerne une plaque maîtresse vers/à partir de laquelle une plaque d'outil pour maintenir un outil peut être fixée/détachée et qui est fixée à un bras de robot, la plaque maîtresse comprenant : un élément de piston qui effectue un mouvement de va-et-vient pour permettre à la plaque d'outil d'être fixée/détachée ; et un détecteur qui détecte une première position de l'élément de piston au niveau de laquelle la plaque d'outil est fixée et une seconde position de l'élément de piston au niveau de laquelle la plaque d'outil est détachée. Une partie trou à fond est formée dans l'élément piston. Le détecteur comprend un capteur de détection et une partie à détecter qui est détectée par le capteur de détection et au moins une partie de la partie à détecter est installée à l'intérieur de la partie trou.
PCT/JP2023/020898 2023-06-05 2023-06-05 Plaque maîtresse et dispositif d'échange d'outil Pending WO2024252501A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2025525475A JPWO2024252501A1 (fr) 2023-06-05 2023-06-05
KR1020257042491A KR20260015240A (ko) 2023-06-05 2023-06-05 마스터 플레이트 및 툴교환장치
CN202380098939.3A CN121219115A (zh) 2023-06-05 2023-06-05 主板及工具更换装置
PCT/JP2023/020898 WO2024252501A1 (fr) 2023-06-05 2023-06-05 Plaque maîtresse et dispositif d'échange d'outil

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/020898 WO2024252501A1 (fr) 2023-06-05 2023-06-05 Plaque maîtresse et dispositif d'échange d'outil

Publications (1)

Publication Number Publication Date
WO2024252501A1 true WO2024252501A1 (fr) 2024-12-12

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PCT/JP2023/020898 Pending WO2024252501A1 (fr) 2023-06-05 2023-06-05 Plaque maîtresse et dispositif d'échange d'outil

Country Status (4)

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JP (1) JPWO2024252501A1 (fr)
KR (1) KR20260015240A (fr)
CN (1) CN121219115A (fr)
WO (1) WO2024252501A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005102616A1 (fr) * 2004-04-23 2005-11-03 Koganei Corporation Dispositif porte-tige
JP2009136942A (ja) * 2007-12-04 2009-06-25 B L Auto Tec Kk ロボットアームカップリング装置の脱落防止装置
CN205325706U (zh) * 2016-01-13 2016-06-22 绵阳伦奇机器人有限公司 一种新型机器人工具快换器
CN206048233U (zh) * 2016-10-13 2017-03-29 侯治国 一种机器人工件自动快换装置及使用其的机器人
JP2017199836A (ja) * 2016-04-28 2017-11-02 富士機械製造株式会社 部品実装機及びそれに用いるノズルツール
JP2018118333A (ja) * 2017-01-24 2018-08-02 株式会社近藤製作所 自動工具交換装置
CN109454662A (zh) * 2018-10-31 2019-03-12 广州市昊志机电股份有限公司 一种机械手快换装置
WO2023074105A1 (fr) * 2021-10-26 2023-05-04 ビー・エル・オートテック株式会社 Changeur d'outil

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07186079A (ja) 1993-12-27 1995-07-25 Mishima Kosan Co Ltd 自動工具交換装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005102616A1 (fr) * 2004-04-23 2005-11-03 Koganei Corporation Dispositif porte-tige
JP2009136942A (ja) * 2007-12-04 2009-06-25 B L Auto Tec Kk ロボットアームカップリング装置の脱落防止装置
CN205325706U (zh) * 2016-01-13 2016-06-22 绵阳伦奇机器人有限公司 一种新型机器人工具快换器
JP2017199836A (ja) * 2016-04-28 2017-11-02 富士機械製造株式会社 部品実装機及びそれに用いるノズルツール
CN206048233U (zh) * 2016-10-13 2017-03-29 侯治国 一种机器人工件自动快换装置及使用其的机器人
JP2018118333A (ja) * 2017-01-24 2018-08-02 株式会社近藤製作所 自動工具交換装置
CN109454662A (zh) * 2018-10-31 2019-03-12 广州市昊志机电股份有限公司 一种机械手快换装置
WO2023074105A1 (fr) * 2021-10-26 2023-05-04 ビー・エル・オートテック株式会社 Changeur d'outil

Also Published As

Publication number Publication date
CN121219115A (zh) 2025-12-26
KR20260015240A (ko) 2026-02-02
JPWO2024252501A1 (fr) 2024-12-12

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