WO2024253036A1 - Plaque d'outil et dispositif d'échange d'outil - Google Patents

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

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Publication number
WO2024253036A1
WO2024253036A1 PCT/JP2024/020011 JP2024020011W WO2024253036A1 WO 2024253036 A1 WO2024253036 A1 WO 2024253036A1 JP 2024020011 W JP2024020011 W JP 2024020011W WO 2024253036 A1 WO2024253036 A1 WO 2024253036A1
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WO
WIPO (PCT)
Prior art keywords
hole
tool
plate
tool plate
positioning pin
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/JP2024/020011
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English (en)
Japanese (ja)
Inventor
紀之 針崎
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 JP2024539982A priority Critical patent/JP7665903B1/ja
Priority to CN202480036010.2A priority patent/CN121240954A/zh
Publication of WO2024253036A1 publication Critical patent/WO2024253036A1/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

Definitions

  • This disclosure relates to a tool plate and a tool changing 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 in which the master plate has balls that engage and disengage with the tool plate to attach and detach the master plate and tool plate (U.S. Patent No. 4,696,524).
  • a ball retainer is disposed in which a hole through which a ball moves is formed.
  • the ball is pushed out in a direction perpendicular to the reciprocating motion of the piston member by the reciprocating motion of the piston member, and engages with an inclined surface formed on a cam lock ring (ring member) of the outer assembly (tool plate). Since the ball is in point contact with the inclined surface, a large load may be applied to the contact portion. Therefore, it is conceivable to provide a groove for the ball to engage with the inclined surface and to make the groove and the ball contact each other by a line or surface.
  • the ball may cause abnormal friction and an increase in surface pressure (also called “galling") against the groove, making it difficult to engage, and the master plate and the tool plate may not be easily attached.
  • surface pressure also called "galling”
  • the manufacture of the tool exchange device becomes complicated, and further, strict dimensional control is required in the manufacture or processing of each member, which may increase the cost of the tool exchange device.
  • the present disclosure aims to provide a tool plate that can easily position a ring member having an engagement groove formed therein that engages with an engagement member.
  • a tool plate that can engage with an engaging member of a master plate of a tool changer and holds a tool
  • the tool plate comprising: a tool plate body having an insertion hole into which a portion of the master plate is inserted; an annular ring member that is disposed in the insertion hole and has an engaging groove corresponding to the engaging member formed therein; and a positioning pin for circumferentially positioning the ring member when disposed in the insertion hole, the tool plate body having a pin hole for erecting the positioning pin, the ring member in a plan view having a notch formed in an edge portion to partially surround the positioning pin at a position corresponding to the pin hole, or a hole formed to surround the positioning pin, the notch or hole being formed to have a gap between the positioning pin and the ring member.
  • the tool plate of the present disclosure allows the ring member, which has an engagement groove formed therein for engaging with the engagement member, to be easily positioned on the tool plate body.
  • 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 changing device of FIG.
  • FIG. 3 is a cross-sectional view taken along line AA of FIG.
  • FIG. 4 is a schematic cross-sectional side view showing a state in which the master plate and the tool plate in the tool exchange apparatus of FIG. 3 are separated from each other.
  • FIG. 5 is a schematic bottom view showing a mounting state of the master plate and the tool plate in the tool exchange device of FIG. 1. As shown in FIG.
  • One aspect of the present disclosure is a tool plate that can engage with an engagement member of a master plate of a tool changer and holds a tool, the tool plate comprising: a tool plate body having an insertion hole into which a portion of the master plate is inserted; an annular ring member that is disposed in the insertion hole and has an engagement groove corresponding to the engagement member formed therein; and a positioning pin for circumferentially positioning the ring member when disposed in the insertion hole, the tool plate body having a pin hole for erecting the positioning pin, the ring member in a plan view having a notch formed in an edge portion to partially surround the positioning pin at a position corresponding to the pin hole, or a hole formed to surround the positioning pin, the notch or the hole being formed to have a gap between the positioning pin and the ring member.
  • the tool plate has a tool plate body, a ring member that is disposed in an insertion hole of the tool plate body and has an engagement groove formed therein, and a positioning pin that positions the ring member in the circumferential direction.
  • the tool plate body has a pin hole in which the positioning pin is erected, and the ring member has a notch formed in the circumferential surface so as to partially surround the positioning pin at a position corresponding to the pin hole, or a hole formed so as to surround the positioning pin.
  • the notch or hole is formed so as to have a gap between the positioning pin and the notch or hole. In other words, the notch or hole is formed so as to provide a play (clearance) with respect to the positioning pin.
  • the ring member does not need to be positioned in an accurate position (direction) in the circumferential direction, and can be easily positioned by aligning the notch or hole with the positioning pin.
  • the distance between a pair of edges of the notch portion at the edge of the ring member in a plan view, or the diameter of the hole portion may be 1.05 times or more the diameter of the positioning pin. This makes it easier to form the clearance, and allows the ring member to be positioned more easily.
  • the notch may be formed in the ring member, and the notch may be formed in a semicircular shape in a plan view. In this way, the notch can be easily formed.
  • One aspect of the present disclosure is a tool exchange device comprising a tool plate as described above in any one of (1) to (3) and a master plate to which the tool plate can be attached and detached.
  • 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 the opposite surface 312 of the attachment surface 311 of the main body portion 310 and inserted into the tool plate 20, a piston member 340 capable of reciprocating in a piston hole portion 330 formed in the master plate main body 300, and sliding members 381, 382 arranged between an inner surface 323 of the piston hole portion 330 and an outer peripheral 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 surface, 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 216 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, while the other guide pin 315 has a pair of parallel straight sections in the cross section and a pair of arc sections connecting the pair of straight sections.
  • one guide pin 314 is an approximately cylindrical member, while 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 line is approximately parallel to an imaginary line passing through the centers of the pair of guide pins 314, 315.
  • the pair of guide holes 216 are formed with an inner diameter approximately equal to the outer diameter of one guide pin 314.
  • the piston hole portion 330 is formed so as 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. It is preferable that the step portion 333 has a protruding portion 334 that protrudes toward the mounting surface 311 and whose inner peripheral surface is continuous with the inner peripheral surface of the first hole portion 331. Specifically, it is preferable that 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 peripheral surface is flush with the inner peripheral 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 arranged in ball holes 321 drilled at approximately equal angular intervals in the insertion portion 320.
  • the balls 370 move (roll) laterally due to the reciprocating motion of the piston member 340.
  • a part of the ball 370 protrudes onto the outer circumferential surface 322 of the insertion portion 320 due to the forward movement (downward movement) of the piston member 340, and the protruding part becomes movable into the outer circumferential surface 322 due to the return movement (upward movement) of the piston member 340.
  • the protruding part comes into contact with an engagement groove 223 formed on the engagement surface 222 of the tool plate 20, and the tool plate 20 is fixed 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 fitted into the ball hole 321.
  • 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 narrowed 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 has an inclined surface that slopes 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 forward movement of the piston member 340 is restricted by the lower surface 342a of the second portion 342 abutting against the step portion 333.
  • the ball 370 pushed out by the piston member 340 abuts against the engagement groove 223 of the tool plate 20, and the opposite surface 312 of the master plate 30 and the mounting 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 by the upper surface 342b of the second portion 342 abutting against the mounting plate 360.
  • the second part 342 is formed with a recessed part 343 that does not abut against the protruding part 334.
  • the second part 342 has a recessed part 343 formed to accommodate the protruding part 334 on the lower surface 342a that abuts against the step part 333.
  • 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. That is, by forming the protruding portion 334 in the second hole portion 332, a guide surface for the reciprocating motion of the first portion 341 can be partially provided within the second hole portion 332. Also, by forming the recessed portion 343 in the second portion 342, the stroke of the second portion 342 within the second hole portion 332 can be ensured. That is, by providing 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 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 345, 346 in which sliding members 381, 382 are disposed are formed in the piston member 340. Specifically, a first groove 345 in which the first sliding member 381 is disposed is formed in the first portion 341, and a second groove 346 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 345, 346 in which the sliding members 381, 382 are disposed are not formed on the master plate body 300. This makes it possible to prevent a decrease in strength due to the formation of a thin portion (groove portion) on the master plate body 300, and ensures strength while miniaturizing 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 345) is formed on the inner circumferential surface of the piston hole portion of the insertion portion (the portion corresponding to the inner circumferential surface of the first hole portion 331).
  • the stress (load) from the tool plate may concentrate on the groove portion, causing the insertion portion to be damaged. For this reason, it may be necessary to ensure strength by forming the insertion portion or the master plate main body from a metal with high strength or by making it larger. Since the master plate 30 does not have a groove portion formed and therefore does not have a portion that is formed thin, it is possible to suppress the concentration of stress from the tool plate 20. For this reason, it is possible to ensure strength while miniaturizing the master plate main body 300.
  • 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, an ISO standard. In this embodiment, six first mounting holes 361 are formed at 60 degree pitch intervals.
  • 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 a boss 364 formed on its top surface 363 for positioning relative to the robot arm.
  • the mounting plate 360 may have second mounting holes 365 formed with a different pitch interval or different P.C.D. from the first mounting holes 361.
  • the holes for mounting the master plate formed in the robot arm may be formed with a pitch interval or P.C.D. (hereinafter also referred to as "pitch, etc.") specified by the standard, or with a non-standard pitch.
  • the second mounting holes 365 are preferably formed with a pitch that corresponds to a robot arm in which holes for mounting the master plate are formed with 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 365 are formed with a pitch interval of 120 degrees adjacent to the bolt hole 362.
  • the main body 310 of the master plate 30 has a first bolt hole 316 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 tool plate 20 has a tool plate body 210 and a ring member 220.
  • An insertion hole portion 211 is formed in the tool plate body 210, and the ring member 220 is disposed in this insertion hole portion 211.
  • the insertion hole portion 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, formed with an inner diameter larger than the inner diameter of the first insertion hole 212, and in which the ring member 220 is disposed.
  • a guide surface 215 is formed above the first insertion hole 212 (on the mounting surface 214 side) with an expanded diameter to guide the insertion of the insertion part 320.
  • the ring hole 213 has a first ring hole 213a in which the ring member 220 is placed, an annular groove 213b for fitting the annular member 240 to prevent the placed ring member 220 from falling off, and a second ring hole 213c below the annular groove 213b, the inner diameter of which is larger than the first ring hole 213a and smaller than the annular groove 213b (the outer diameter of the annular member 240).
  • the annular member 240 is not particularly limited, and a known member such as a C-ring or a spiral retaining ring may be used.
  • the tool plate body 210 has the second ring hole 213c, which makes it easy to place the ring member 220 and the annular member 240.
  • the ring member 220 which is arranged on the tool plate body 210 together with the annular member 240, is housed in the first ring hole 213a so as to be movable (rotatable) in the circumferential direction.
  • 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 ring member 220 is an annular member, and its outer diameter is formed to be approximately the same as the inner diameter of the first ring hole 213a.
  • 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 its diameter increases toward the bottom.
  • 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 portion 320.
  • the engagement surface 222 is formed so that its diameter increases toward the bottom.
  • the engagement surface 222 is formed with engagement grooves 223 corresponding to the engagement members of the master plate 30.
  • the engagement surface 222 is formed with a plurality of engagement grooves 223 (eight in this embodiment) with a substantially arc-shaped cross section so that the ball 370 can engage (abut) with the ball 370 in a line or surface.
  • the eight engagement grooves 223 have an arc-shaped cross section and are formed radially from the center of the ring member 220 at substantially equal angular intervals so as to accommodate the movement of the ball 370.
  • the engagement grooves 223 are formed so that the extending direction (axial direction) is the same (parallel) as the moving direction of the ball 370 (the direction pushed out by the piston member 340) in a plan view.
  • the ring member 220 is preferably formed from an oil-impregnated metal or oil-impregnated ceramics.
  • the metal is preferably a heavy metal.
  • the metal is more preferably a sintered material. This allows the ball 370 to move smoothly while maintaining strength, and reduces wear and damage to the ball 370 and ring member 220. This improves the durability and maintainability of the ball 370 and ring member 220, and ultimately the tool exchange device 1.
  • the metal is not particularly limited, and examples include stainless steel, iron, and titanium.
  • the tool plate 20 has a positioning pin 230 for positioning the ring member 220 in the circumferential direction when it is placed in the insertion hole portion 211 (first ring hole 213a).
  • the positioning pin 230 is a member for positioning the engagement groove 223 in the circumferential direction so that it corresponds to the ball 370 when the ring member 220 is placed in the tool plate body 210.
  • the tool plate body 210 is formed with a pin hole 217 in which a positioning pin 230 is erected.
  • the positioning pin 230 is not particularly limited as long as it does not easily fall out of the pin hole 217, and known pins such as parallel pins or spring pins that are pressed into the pin hole 217 may be used.
  • the pin hole 217 may be a female screw hole, and the positioning pin 230 may be a bolt, etc.
  • the pin hole 217 is formed at the bottom 219 of the ring hole 213 (the plane connecting the first insertion hole 212 and the first ring hole 213a) so that its center is located on the outer circumferential surface of the ring member 220 in a plan view.
  • the positioning pin 230 is erected in the pin hole 217. In other words, the positioning pin 230 is disposed in the pin hole 217 so that a portion of it is embedded in the pin hole 217 and the remainder protrudes downward from the bottom 219.
  • the ring member 220 has a notch formed so as to partially surround the positioning pin 230 at a position corresponding to the pin hole 217, or a hole surrounding the positioning pin 217.
  • the notch is preferably formed in a substantially semicircular shape in a plan view, or the hole is preferably formed in a substantially circular shape in a plan view. In this way, the notch or hole can be easily formed.
  • the ring member 220 of this embodiment has a notch 224 formed in a substantially semicircular shape in a plan view on its outer circumferential surface.
  • the notch 224 is formed so as to have a gap between it and the positioning pin 230 in a plan view.
  • the inner surface of the notch 224 does not come into contact with the positioning pin 230.
  • the ring member 220 is positioned so that there is play (clearance) in the circumferential direction in the range where the notch 224 comes into contact with the positioning pin 230 when placed on the tool plate body 210.
  • the engagement groove 223 can be aligned with the ball 370 within a certain range (the range where the notch portion 224 abuts the positioning pin 230). From the viewpoint of preventing galling (abnormal friction, increased surface pressure, etc.) between the ball 370 and the engagement groove 223, it is preferable that the position of the engagement groove 223 coincides with the ball 370. Specifically, it is preferable that the movement direction of the ball 370 in a plan view coincides with the axial direction of the engagement groove 223. However, if it is required to align the axial direction with the movement direction when arranging the ring member 220 on the tool plate body 210, the arrangement may become complicated.
  • the tool plate 20 can align the engagement groove 223 with the ball 370 within a certain range, but the axial direction and the movement direction (hereinafter also referred to as the two directions) may not exactly match. Even if the two directions do not match, when the master plate 30 is attached to the tool plate 20, when the ball 370 is pushed out from the insertion portion 320 and abuts against the engagement groove 223, the ball 370 presses the engagement groove 223, causing the engagement ring 220 to rotate in the circumferential direction so that the axial direction of the engagement groove 223 approximately matches the movement direction of the ball 370, and the two directions approximately match. Therefore, the ball 370 can move smoothly through the engagement groove 223, and the above-mentioned galling due to the mismatch of the two directions can be suppressed. Therefore, the reliability of the attachment of the tool plate 20 to the master plate 30 can be improved.
  • the lower limit of the distance between a pair of edges of the notch 224 on the edge (outer peripheral surface) of the ring member 220 in a plan view is preferably 1.05 times the diameter of the positioning pin 230, more preferably 1.08 times, and even more preferably 1.10 times.
  • the upper limit of the distance between the edges is preferably 1.50 times the diameter of the positioning pin 230, more preferably 1.40 times, even more preferably 1.30 times, and particularly preferably 1.25 times.
  • 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 the ball 370 comes into contact with the engagement groove 223.
  • the tool plate 20 has a positioning pin 230 for positioning the ring member 220 in the circumferential direction, and the notch portion 224 formed in the ring member 220 is formed so as to have a gap between it and the positioning pin 230 in a plan view.
  • the ring member 220 has a clearance in the circumferential direction in the range where the notch portion 224 abuts against the positioning pin 230, so that the ring member 220 can be easily arranged on the tool plate body 210.
  • the ball 370 When the ball 370 is pushed out of the insertion portion 320 and abuts against the engagement groove 223, the ball 370 presses the engagement groove 223, so that the engagement ring 220 rotates in the circumferential direction so that the axial direction of the engagement groove 223 coincides with the moving direction of the ball 370, and the two directions are approximately the same. Therefore, the ball 370 can move smoothly in the engagement groove 223, and galling due to the mismatch of the two directions can be suppressed. Therefore, the reliability of the tool plate 20 being attached to the master plate 30 can be improved.
  • 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 uniform 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 ring member may be formed with a hole that surrounds the positioning pin in a plan view.
  • the pin hole formed in the tool plate is not limited to having its center located on the outer circumferential surface of the ring member in a plan view, and may be provided at any position within a range in which the notch or hole of the ring member does not overlap the engagement groove in a plan view.
  • 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 tool plate of the present invention abuts against the engaging member of the master plate via a line or surface, improving its strength, and is particularly suitable for use in tool exchange devices such as robot arms that perform heavy-load work.
  • Tool exchange device 20 Tool plate 210 Tool plate body 211 Insertion hole portion 212 First insertion hole 213 Ring hole 213a First ring hole 213b Annular groove 213c Second ring hole 214 Mounting surface 215 Guide surface 216 Guide hole 217 Pin hole 218 Annular groove 219 Bottom portion 220 Ring member 221 Second insertion hole 222 Engagement surface 223 Engagement groove 224 Cutout portion 230 Positioning pin 240 Annular member 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 316 First bolt hole 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 First groove portion 3

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Manipulator (AREA)

Abstract

Un mode de réalisation de la présente divulgation concerne une plaque d'outil qui est destinée à maintenir un outil et qui comprend : un corps de plaque d'outil dans lequel est formé un trou d'insertion dans lequel une partie d'une plaque maîtresse doit être insérée ; un élément bague annulaire qui est agencé au niveau du trou d'insertion et dans lequel une rainure de mise en prise correspondant à un élément de mise en prise est formée ; et une broche de positionnement pour positionner l'élément bague dans la direction circonférentielle lorsque l'élément bague est agencé au niveau du trou d'insertion. Un trou de broche dans lequel la broche de positionnement est agencée dans une position verticale est formé dans le corps de plaque d'outil. Dans une vue en plan, l'élément bague a une encoche formée au niveau d'un bord de façon à entourer partiellement la broche de positionnement à une position correspondant au trou de broche, ou a un trou formé de façon à entourer la broche de positionnement. L'encoche ou le trou est formé de manière à avoir un espace par rapport à la broche de positionnement.
PCT/JP2024/020011 2023-06-05 2024-05-31 Plaque d'outil et dispositif d'échange d'outil Pending WO2024253036A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024539982A JP7665903B1 (ja) 2023-06-05 2024-05-31 ツールプレートおよびツール交換装置
CN202480036010.2A CN121240954A (zh) 2023-06-05 2024-05-31 工具板及工具更换装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023-092790 2023-06-05
JP2023092790 2023-06-05

Publications (1)

Publication Number Publication Date
WO2024253036A1 true WO2024253036A1 (fr) 2024-12-12

Family

ID=93795965

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2024/020011 Pending WO2024253036A1 (fr) 2023-06-05 2024-05-31 Plaque d'outil et dispositif d'échange d'outil

Country Status (3)

Country Link
JP (1) JP7665903B1 (fr)
CN (1) CN121240954A (fr)
WO (1) WO2024253036A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0588846U (ja) * 1992-05-12 1993-12-03 株式会社アーレスティ 製品積込み装置
JP3717923B2 (ja) * 2004-05-18 2005-11-16 ビー・エル・オートテック株式会社 ロボットアームカップリング装置用マスタプレート及びツールプレート、ロボットアームカップリング装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0588846U (ja) * 1992-05-12 1993-12-03 株式会社アーレスティ 製品積込み装置
JP3717923B2 (ja) * 2004-05-18 2005-11-16 ビー・エル・オートテック株式会社 ロボットアームカップリング装置用マスタプレート及びツールプレート、ロボットアームカップリング装置

Also Published As

Publication number Publication date
JPWO2024253036A1 (fr) 2024-12-12
JP7665903B1 (ja) 2025-04-22
CN121240954A (zh) 2025-12-30

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