Tool exchange device

A tool exchange device includes a male member and a female member. The male member is attached to a side of a main body of an apparatus. The female member is attached to a side of a tool. The male member and the female member includes a plurality of coupling portions mechanically connected to each other, and a connector portion that connects a power supply path arranged in the main body and the tool to each other. The plurality of coupling portions and the connector portion are provided in each of joining surfaces of the male member and the female member. The plurality of coupling portions are arranged around the connector portion.

TECHNICAL FIELD

The present invention relates to a tool exchange device.

BACKGROUND ART

As a tool exchange device applied to various apparatuses such as an industrial robot, a tool exchange device including a male member to be attached to the robot side, and a female member to be attached to the tool side is disclosed (for example, Patent Literature 1). The male member and the female member are coupled to and separated from each other by a coupling portion provided in the center. In the male member, a first coupling portion including a protruding portion and a cam capable of radially protruding from the protruding portion is provided to a male main body. In the female member, a second coupling portion including a coupling hole in which the protruding portion is insertable and an engaging part, which is provided on the inner circumferential surface of the coupling hole and with which the cam is engaged, is provided on a female main body. In the tool exchange device, the male member and the female member are coupled to each other when the cam is engaged with the engaging part in a state in which the protruding portion is inserted in the coupling hole. Further, the male member and the female member may be separated from each other by releasing the engagement between the cam and the engaging part. As described above, the tool exchange device can exchange the tool attached to the industrial robot.

The tool exchange device includes a connector portion that connects and disconnects a signal line in conjunction with the coupling and separation of the male member and the female member. The connector portion includes a first connector portion arranged on the outside of the male main body, and a second connector portion arranged on the outside of the female main body. The first connector portion includes a robot-side connector and a first relay connector. A cable pulled out from the robot side is connected to the robot-side connector of the male member. The second connector portion includes a tool-side connector and a second relay connector. The tool-side connector is connected to a servo module of the tool via a cable serving as a power supply path. By connecting the first relay connector and the second relay connector to each other, the robot and the tool are electrically connected to each other.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

In recent years, a robot in which a cable is arranged in the robot is becoming used in order to prevent interference with other apparatuses and workpieces. In a tool exchange device, a connector portion is arranged on the outside of a male main body and a female main body, and hence there is a need to pull out the cable arranged in the robot to the outside at a distal end of the robot and connect the cable to the connector portion. Therefore, there has been a problem that the cable restricts the operation of the robot. Further, the tool exchange device requires a space for pulling out the cable between the distal end of the robot and the male member, thereby causing not only downsizing to be difficult but also the moment generated on the robot to be increased. Therefore, there has been a problem that the rated power output of the robot cannot be obtained.

An object of the present invention is to provide a tool exchange device capable of performing coupling of a power supply path arranged in a robot without pulling out the power supply path to the outside.

Solution to Problem

A tool exchange device according to the present invention includes: a male member to be attached to a side of a main body of an apparatus; and a female member to be attached to a side of a tool. In the tool exchange device, the male member and the female member include: a plurality of coupling portions mechanically connected to each other; and a connector portion that connects a power supply path arranged in the main body and the tool to each other, the plurality of coupling portions and the connector portion are provided in each of joining surfaces of the male member and the female member, and the plurality of coupling portions are arranged around the connector portion.

Advantageous Effects of Invention

According to the present invention, the connector portion is provided in each of joining surfaces of the male member and the female member, and the power supply path such as a cable and a tube is not exposed to the outside of the main body. The tool exchange device does not require a space for pulling out the power supply path between the distal end of the apparatus and the male member, and can be easily downsized.

DESCRIPTION OF EMBODIMENT

An embodiment of the present invention is described in detail below with reference to the drawings.

A tool exchange device10illustrated inFIG. 1includes a male member16fixed to a distal end of the arm14as a main body of the industrial robot12, and a female member20fixed to a tool18. The male member16is removably fixed to the arm14by a fastener (not shown) in a state in which a fixing surface (not shown in this figure) is in contact with the arm14. The female member20is removably fixed to the tool18by a fastener (not shown) in a state in which a fixing surface (not shown in this figure) is in contact with the tool18. A bolt may be used as the fastener, for example.

The tool18is not particularly limited, and a manipulator, a deburring tool, a handling jig, a spot welding gun, and the like can be applied, for example. A plurality of different types of the tools18are provided for one arm14in a state in which the female member20is attached. The arm14and the tool18can be coupled to and separated from each other via the tool exchange device10, and the tool18is exchangeable. A control unit (not shown) is connected to the male member16, and the coupling and separation of the male member16and the female member20are controlled by the control unit.

The tool exchange device10includes connector portions38in joining surfaces16A and20A, and electrically connect the robot and the tool18to each other via the connector portions38. The connector portions38include a first connector portion26and a second connector portion36. In the male member16, the first connector portion26is attached to the center of the joining surface16A. Although not shown, the first connector portion26includes a robot-side connector arranged on a fixing surface16B side, and a first relay connector arranged on the joining surface16A side. A cable serving as a power supply path arranged in the arm14is connected to the robot-side connector on the fixing surface16B side of the male member16. Although not shown, the second connector portion36includes a tool-side connector arranged on a fixing surface20B side, and a second relay connector arranged on a joining surface20A side. The tool-side connector is connected to a servo module of the tool18via a cable serving as a power supply path on the tool side.

In the first connector portion26and the second connector portion36, the first relay connector and the second relay connector are connected to each other in accordance with the coupling of the male member16and the female member20. As a result, a power supply device (not shown) serving as the motivity and the abovementioned control unit are electrically connected to a servo motor portion of the tool18. By the electrical connection, for example, various circuit signals for controlling a servo motor are exchanged between a control device and the servo motor portion, and electric power is supplied to the servo motor from the power supply device.

The tool exchange device10includes a plurality of coupling portions34around the connector portions38, and the robot and the tool18are mechanically connected to each other via the coupling portions34. The coupling portion34includes a first coupling portion24and a second coupling portion32. In the male member16, a plurality of (two in this figure) first coupling portions24are provided around the first connector portion26. In the female member20, the same number of (two in this figure) second coupling portions32as the first coupling portions24are provided around the second connector portion36.

When the tool18and the arm14are coupled to each other, the male member16and the female member20are fixed to each other by moving the arm14and operating an engaging mechanism formed by a cam and the like in a state in which the joining surface16A and the joining surface20A are in contact with each other and the first coupling portion24is inserted in the second coupling portion32. When the tool18and the arm14are separated from each other, the male member16and the female member20are separated from each other by moving the arm14in a direction in which the male member16is separated from the female member20after the fixing by the engaging mechanism is released.

As illustrated inFIG. 2andFIG. 3, the male member16includes a plate-like male main body22. The male main body22includes a first connector setting portion40provided in the center, and protruding portions43provided on both sides so as to sandwich the first connector setting portion40. The first connector setting portion40includes a rectangular-shaped hole41passing through the male main body22in the thickness direction thereof, and first setting tables42. The first setting tables42support the bottom surface of the first connector portion26inserted from the joining surface16A side. In the first connector portion26set on the first setting tables42, the first relay connector is exposed to the joining surface16A side, and the robot-side connector is exposed to the fixing surface16B side.

In this figure, the first setting tables42are two protrusions formed on inner surfaces of the hole41opposed to each other and protruding to inner sides with respect to the inner surfaces. The first setting tables42have upper ends provided on approximately the center of the male main body22in the thickness direction thereof, and lower ends that are the same as the fixing surface16B. Female screws are formed in the first setting tables42, and bolts (not shown) for fixing the first connector portion26are screwed in from the joining surface16A side. A through hole44is formed in the first connector setting portion40on the fixing surface16B side thereof. The cable is connected to the robot-side connector through the through hole44.

The male main body22includes a first gas introduction inlet50and a second gas introduction inlet54opened to the fixing surface16B side as gas introduction inlets. The first gas introduction inlet50is connected to a first distribution channel46. The first distribution channel46is a through hole formed between the joining surface16A and the fixing surface16B of the male main body22and passing in the surface direction. The first distribution channel46is connected to first gas supply/exhaust ports58provided to the two protruding portions43. The second gas introduction inlet54is connected to a second distribution channel48. The second distribution channel48is a through hole formed between the joining surface16A and the fixing surface16B of the male main body22and passing in the surface direction. The second distribution channel48is connected to second gas supply/exhaust ports60provided to the two protruding portions43.

As illustrated inFIG. 4, the male member16includes a cylinder portion59and a cam61as the engaging mechanism. The cylinder portion59is an air cylinder including a cylinder chamber62, a piston63accommodated in the cylinder chamber62, and a piston rod64coupled to the piston63, and the cam61is rotationally moved by linearly moving the piston rod64.

The piston63has a cylindrical shape, and is movable in the axial direction (the vertical direction in this figure) thereof. The piston63reciprocates in accordance with the pressure of the gas (hereinafter referred to as “air pressure”). The position of the piston63illustrated in this figure is a position in which the cam61is moved to a release position in which the engagement with the second coupling portion32is released. By moving the piston63in the upper direction in this figure, the cam61moves to an engagement position that engages with the second coupling portion32.

In the cylinder chamber62, the first gas supply/exhaust port58and the second gas supply/exhaust port60passing through a side wall are provided. The first gas supply/exhaust port58is opened in a place below the piston63in the release position in the cylinder chamber62. The second gas supply/exhaust port60is opened in a place above the engagement position of the piston63in the cylinder chamber62.

The piston63is moved to the release position or the engagement position by feeding gas into the cylinder chamber62via one of the first gas supply/exhaust port58from the first gas introduction inlet50through the first distribution channel46and the second gas supply/exhaust port60from the second gas introduction inlet54through the second distribution channel48, and exhausting gas to the outside of the cylinder chamber62via the other of the first gas supply/exhaust port58and the second gas supply/exhaust port60. Note that, although not shown, a coil spring that biases the piston63toward the engagement position is provided, and the piston63is moved against the biasing force of the coil spring by air pressure when the piston63is moved to the release position.

As illustrated inFIG. 5andFIG. 6, the female member includes a plate-like female main body30. The female main body30includes a second connector setting portion70in the center. The second connector setting portion70includes a hole71passing through the female main body30in the thickness direction thereof, and second setting tables72. The second setting tables72support the bottom surface of the second connector portion36inserted from the joining surface20A side. In the second connector portion36set on the second setting tables72, the second relay connector is exposed to the joining surface20A side, and the tool-side connector is exposed to the fixing surface20B side.

In this figure, the second setting tables72are two protrusions formed on inner surfaces of the hole71opposed to each other and protruding to inner sides with respect to the inner surfaces. The second setting tables72have upper ends provided on approximately the center of the female main body30in the thickness direction thereof, and lower ends that are the same as the fixing surface20B. Female screws are formed in the second setting tables72, and bolts (not shown) for fixing the second connector portion36are screwed in from the joining surface20A side. A through hole74is formed in the second connector setting portion70on the fixing surface20B side thereof. The cable connected to the tool-side connector is connected to the servo motor portion through the through hole74.

The male member16according to this embodiment can connect the cable arranged in the arm14to the first connector portion26provided in the center of the joining surface16A at the distal end of the arm14. Therefore, the tool exchange device10can couple the cable arranged in the arm14with the first connector portion26without pulling out the cable to the outside of the arm14.

The tool exchange device10does not restrict the operation of the industrial robot12by the cable because the cable is not exposed to the outside of the arm14. In addition, the tool exchange device10does not require a space for pulling out the cable between the distal end of the industrial robot12and the male member16, can be easily downsized, and can prevent unnecessary moment from being generated on the industrial robot12. Therefore, the rated power output of the industrial robot12can be obtained.

The male main body22includes the first distribution channel46and the second distribution channel48that distribute compressed gas supplied to the first gas introduction inlet50and the second gas introduction inlet54to the two coupling portions34, and hence the tool exchange device10can operate a plurality of the coupling portions34at the same timing.

The male main body22and the female main body30include the first connector setting portion40and the second connector setting portion70to which the first connector portion26and the second connector portion36can be attached from the side of the joining surfaces16A and20A. As a result, when the cable is changed, the first connector portion26and the second connector portion36can be removed without removing the male member16from the arm14and removing the female member20from the tool18, and hence the ease of maintenance can be enhanced.

Modified Example

The present invention is not limited to the abovementioned embodiment, and can be modified within the scope of the present invention, as appropriate.

In the abovementioned embodiment, a case where the number of the coupling portions34is two has been described, but the number may be three or more.

In the abovementioned embodiment, a case where the connector portions38are electrically connected with use of the power supply serving as the motivity and the cable serving as the power supply path has been described, but the present invention is not limited thereto. For example, a pump that pumps fluid such as water and gas may be used as the motivity. In this case, tubes can be used as the power supply path and the tool-side power supply path, and a pipe joint can be used as the connector portion.

A case where the tool exchange device10includes the connector portion38in the center of the joining surface has been described, but the tool exchange device10may include a plurality of the connector portions38provided in a symmetrical manner so as to sandwich the center of the joining surface.

REFERENCE SIGNS LIST