Patent Description:
Conventionally, a device for detachably attaching an end effector to a robot arm has been known. For example, <CIT> discloses a tool exchange device that detachably connects a first connecting member fixed to a robot arm and a second connecting member fixed to a tool member.

In the above-described tool exchange device, when compressed air is supplied to a release chamber of the first connecting member, an output rod integrated with a piston arranged on the first connecting member moves. The output rod is provided with a retraction groove for an engagement ball, and when the output rod moves, the engagement ball can be separated from a receiving surface of the second connecting member. When the first connecting member is raised after the output rod is moved, the first connecting member is separated from the second connecting member.

The tool exchange device includes a second operating rod that engages with an end face of the piston and a first operating rod that engages with the second operating rod. When the supply of compressed air is stopped for maintenance or the like, the piston can be moved and the first connecting member can be separated from the second connecting member by manually operating the first operating rod.

<CIT> discloses a quick disconnect apparatus that includes a receiver and a coupler that is removably connected to the receiver. The receiver can be connected to the tooling assembly, and the coupler can be connected to the base structure such as a robot arm. The receiver includes a receiver housing and a piston that is disposed within the internal cavity of the receiver housing. The engaging members held in the apertures of the receiver housing is engageable with the first contoured engagement surface and the second contoured engagement surface. When the engaging member is engaged with the second contoured engagement surface, the coupler is connected to the receiver, whereas the engaging member is engaged with the first contoured engagement surface, the connection between the coupler and the receiver is released. The release lever pivotally connected to the receiver can come into contact with the lower end surface of the piston.

However, since the tool exchange device above is provided with the operating rod that engages with the end face of the piston, the connecting member must be elongated in the moving direction of the piston, and thus the size of the device is likely to increase.

The present invention has the objective of solving the aforementioned problems.

The present invention is solved by an end-effector exchange device according to claim <NUM>.

Preferred embodiments are evident from the dependent claims.

Because the end-effector exchange device has a separation operation hole into which a release operation tool is inserted, when the supply of air is stopped, the first adapter can be separated from the second adapter manually with the release operation tool. Further, because the release operation tool is configured to be able to abut on a side surface of the cam portion, a configuration necessary for manually separating the first adapter from the second adapter can be compactly arranged while the height of the entire apparatus is reduced as much as possible.

An end-effector exchange device <NUM> according to a first embodiment of the present invention will be described with reference to <FIG>. As shown in <FIG>, the end-effector exchange device <NUM> includes a first adapter <NUM> attached to a robot arm (not shown) and a second adapter <NUM> to which an end effector (not shown) is attached. In the following description, when terms relating to up and down directions are used, for the sake of convenience, such terms refer to directions in the drawings including <FIG>, <FIG>, <FIG>, and <FIG> and do not limit the actual arrangement of constituent members or the like.

As shown in <FIG> and <FIG>, the first adapter <NUM> is made up from a first adapter body <NUM>, a clamp base <NUM>, a piston <NUM>, a cam member <NUM>, a first connector <NUM>, and a plurality of engagement balls <NUM>. The first adapter body <NUM> has a bottomed cylinder hole <NUM> that opens downward. A recess <NUM> is formed at the lower end of the first adapter body <NUM> and extends radially outward from the lower end of the cylinder hole <NUM>.

The clamp base <NUM> has a fitting portion <NUM> to be fitted in the cylinder hole <NUM>, a flange portion <NUM> extending outward from the lower end of the fitting portion <NUM>, and a cylindrical projecting portion <NUM> extending downward from the lower end of the flange portion <NUM>. The fitting portion <NUM> of the clamp base <NUM> is fitted into the cylinder hole <NUM> of the first adapter body <NUM>. The flange portion <NUM> of the clamp base <NUM> is fitted into the recess <NUM> of the first adapter body <NUM>. The lower end of the cylinder hole <NUM> is closed by the clamp base <NUM>.

As shown in <FIG>, the recess <NUM> of the first adapter body <NUM> and the flange portion <NUM> of the clamp base <NUM> have a quadrangular shape formed by combining two linear sides 18a and 18b and two arcuate sides 18c and 18d when viewed from the direction along the central axis X1 of the first adapter <NUM>. Thus, the clamp base <NUM> is positioned in the circumferential direction with respect to the first adapter body <NUM>. The clamp base <NUM> is fixed to the first adapter body <NUM> using a plurality of bolts <NUM> inserted into the flange portion <NUM>. The flange portion <NUM> of the clamp base <NUM> includes a pair of positioning pins <NUM> projecting downward.

The piston <NUM> is arranged in the cylinder hole <NUM> of the first adapter body <NUM> in a vertically slidable manner. A piston packing <NUM> mounted on the piston <NUM> comes into contact with the wall surface of the cylinder hole <NUM>. A first pressure chamber <NUM> positioned above the piston <NUM> and a second pressure chamber <NUM> positioned below the piston <NUM> are formed inside the first adapter <NUM>.

The first adapter body <NUM> has a first port <NUM> for supplying and discharging air to and from the first pressure chamber <NUM> and a second port <NUM> for supplying and discharging air to and from the second pressure chamber <NUM> (see <FIG>). The first port <NUM> and the second port <NUM> open on a side surface of the first adapter body <NUM> at positions close to, of the outer periphery of the recess <NUM> of the first adapter body <NUM>, a portion corresponding to the arcuate side 18c.

The first adapter body <NUM> has a plurality of fluid ports <NUM> that open on the side surface of the first adapter body <NUM>. The plurality of fluid ports <NUM> are disposed close to, of the outer periphery of the recess <NUM> of the first adapter body <NUM>, portions corresponding to the two linear sides 18a and 18b. Pipes (not shown) are connected to the plurality of fluid ports <NUM> to supply the fluid the end effector requires. The first adapter body <NUM> has a plurality of first connection flow paths <NUM>. The first connection flow paths <NUM> communicate with the fluid ports <NUM> and open on the lower surface of the first adapter body <NUM>.

The first connector <NUM> is attached to the first adapter body <NUM> at a position close to, of the outer periphery of the recess <NUM> of the first adapter body <NUM>, a portion corresponding to the arcuate side 18d. The first connector <NUM> is provided with an electrical contact <NUM> for supplying power the end effector requires. Reference numeral 31a denotes a hole through which a bolt for attaching the first adapter <NUM> to the robot arm is inserted. Reference numeral 31b denotes a hole through which a pin for positioning the first adapter <NUM> with respect to the robot arm is inserted (see <FIG>).

The clamp base <NUM> has a hole penetrating in the vertical direction. The hole portion of the clamp base <NUM> is made up from an upper small-diameter hole 44a and a lower large-diameter hole 44b that is continuous with the small-diameter hole 44a via a stepped surface. As shown in <FIG>, the projecting portion <NUM> of the clamp base <NUM> has a plurality of holding holes 40a to 40f penetrating from the outer peripheral surface to the inner peripheral surface. An engagement ball <NUM> is disposed in each of the holding holes 40a to 40f. The inner diameter of each of the holding holes 40a to 40f reduces in the vicinity of the outer peripheral surface of the projecting portion <NUM>. As a result, the engagement balls <NUM> arranged in the holding holes 40a to 40f can project outward from the projecting portion <NUM> without falling off from the outer peripheral surface of the projecting portion <NUM>.

The cam member <NUM> is coupled to the piston <NUM> by means of a screw member <NUM> and extends downward from the piston <NUM>. The cam member <NUM> is movable in the vertical direction together with the piston <NUM>. The cam member <NUM> includes an upper shaft portion <NUM> and a lower cam portion <NUM> having a diameter larger than that of the shaft portion <NUM>. The shaft portion <NUM> of the cam member <NUM> is inserted into the small-diameter hole 44a of the clamp base <NUM>. The cam portion <NUM> of the cam member <NUM> is accommodated in the large-diameter hole 44b of the clamp base <NUM>.

A rod packing <NUM> mounted on the inner periphery of the fitting portion <NUM> of the clamp base <NUM> is in sliding contact with the shaft portion <NUM> of the cam member <NUM>. A seal member <NUM> attached to the outer periphery of the fitting portion <NUM> of the clamp base <NUM> comes into contact with the wall surface of the cylinder hole <NUM> of the first adapter body <NUM>. The second pressure chamber <NUM> is kept airtight from the outside by the rod packing <NUM> and the seal member <NUM>.

The side surface of the cam portion <NUM> includes a cylindrical surface 62a having a constant radius, a first tapered surface 62b being continuous with the upper part of the cylindrical surface 62a, and a second tapered surface 62c being continuous with the lower part of the cylindrical surface 62a. The first tapered surface 62b is a tapered surface the diameter of which increases upward and forms an acting surface for urging the engagement balls <NUM> in the projecting direction. The second tapered surface 62c is a tapered surface the diameter of which decreases downward and provides a space into which the engagement balls <NUM> can be retracted.

As shown in <FIG>, when the cam member <NUM> moves downward to the projecting end (first position), the engagement balls <NUM> come into contact with the first tapered surface 62b of the cam portion <NUM> and receives a force directed obliquely outward from the first tapered surface 62b. As a result, the engagement balls <NUM> are urged so as to project outward from the projecting portion <NUM> of the clamp base <NUM>.

When the cam member <NUM> moves upward, the engagement balls <NUM> face the second tapered surface 62c of the cam portion <NUM> and can be retreated toward the second tapered surface 62c. As shown in <FIG>, when the cam member <NUM> moves upward to the retracting end (second position), the engagement balls <NUM> can be completely retracted to positions where the engagement balls do not project out from the projecting portion <NUM> of the clamp base <NUM>.

The engagement balls <NUM> are in contact with the cylindrical surface 62a of the cam portion <NUM> until the cam member <NUM> moves upward by a predetermined length from the state in which the cam member <NUM> is positioned at the projecting end. While the engagement balls <NUM> are in contact with the cylindrical surface 62a of the cam portion <NUM>, the state in which the engagement balls <NUM> project out from the projecting portion <NUM> of the clamp base <NUM> is maintained.

As shown in <FIG>, the projecting portion <NUM> of the clamp base <NUM> has a pair of notch grooves 42a and 42b at the lower end of the projecting portion <NUM>. Each of the notch grooves 42a and 42b extends from the outer peripheral surface to the inner peripheral surface of the projecting portion <NUM>. As shown in <FIG>, the pair of notch grooves 42a and 42b are arranged on a straight line Y passing through the central axis X1 of the first adapter <NUM> when viewed from the direction along the central axis X1.

As shown in <FIG>, the plurality of holding holes 40a to 40f in the projecting portion <NUM> of the clamp base <NUM> are arranged symmetrically with respect to the straight line Y when viewed from the direction along the central axis X1 of the first adapter <NUM>. The plurality of holding holes 40a to 40f are divided into a first group of holding holes 40a to 40c arranged on one side of the straight line Y and a second group of holding holes 40d to 40f arranged on the other side of the straight line Y. The first group of holding holes 40a to 40c and the second group of holding holes 40d to 40f are arranged at equal intervals in the circumferential direction.

The angle defined around the central axis line X1 of the first adapter <NUM> by the holding holes adjacent to each other in the first group is α. The angle defined around the central axis line X1 of the first adapter <NUM> by the holding holes adjacent to each other in the second group is α. Further, an angle defined between the first group of holding holes and the second group of holding holes adjacent to each other across the straight line Y with respect to the central axis line X1 of the first adapter <NUM> is represented by β. The angle β is larger than the angle α.

By setting the angle β to be large to some extent, it is possible to arrange the notch grooves 42a and 42b at positions where the notch grooves 42a and 42b overlap the holding holes 40a to 40f in the vertical direction (height direction). That is, the length (height) of the projecting portion <NUM> of the clamp base <NUM> in the vertical direction can be made as short as possible. In this embodiment, the number of the holding holes 40a to 40c in the first group and the number of the holding holes 40d to 40f in the second group are each three. The angle α is about <NUM> degrees and the angle β is about <NUM> degrees.

As shown in <FIG> and <FIG>, the second adapter <NUM> is made up from a second adapter body <NUM>, a clamp plate <NUM>, and a second connector <NUM>. In a state where the second adapter <NUM> is coupled to the first adapter <NUM>, the central axis X2 of the second adapter <NUM> coincides with the central axis X1 of the first adapter <NUM>. When viewed from the direction along the central axis X2 of the second adapter <NUM>, the outer shape of the second adapter body <NUM> coincides with the outer shape of the first adapter body <NUM> viewed from the direction along the central axis X1 of the first adapter <NUM>.

The second adapter body <NUM> has a hole <NUM> penetrating in the vertical direction. An upper portion of the hole <NUM> expands outward via a stepped surface, whereby a recess <NUM> is formed at the upper portion of the hole <NUM>. The annular clamp plate <NUM> fits into the recess <NUM> of the second adapter body <NUM> and is secured to the second adapter body <NUM> with a plurality of bolts <NUM>. The second adapter body <NUM> includes a flange portion <NUM> extending inward from the hole <NUM>. The recess <NUM> of the second adapter body <NUM> and the clamp plate <NUM> have a quadrangular shape acquired by combining two linear sides 74a and 74b and two arcuate sides 74c and 74d when viewed from the direction along the central axis X2 of the second adapter <NUM>. Thus, the clamp plate <NUM> is positioned in the circumferential direction with respect to the second adapter body <NUM>.

The second adapter body <NUM> has a plurality of fluid ports <NUM> that open on a side surface of the second adapter body <NUM>. The plurality of fluid ports <NUM> are disposed close to, of the outer periphery of the recess <NUM> of the second adapter body <NUM>, portions corresponding to the two linear sides 74a and 74b. The plurality of fluid ports <NUM> are connected with pipes (not shown) for supplying fluid necessary for the end effector. The second adapter body <NUM> has a plurality of second connection flow paths <NUM>. The second connection flow path <NUM> communicates with the fluid port <NUM> and opens on the upper surface of the second adapter body <NUM>. Each fluid port <NUM> of the first adapter body <NUM> communicates with each fluid port <NUM> of the second adapter body <NUM> via the first connection flow path <NUM> and the second connection flow path <NUM>.

The first connection flow paths <NUM> are disposed close to, of the outer periphery of the recess <NUM> of the first adapter body <NUM>, portions corresponding to the two linear sides 18a and 18b. In this way, the first connection flow paths <NUM> can be arranged in wide regions outside the recess <NUM> of the first adapter body <NUM>. The second connection flow paths <NUM> are disposed close to, of the outer periphery of the recess <NUM> of the second adapter body <NUM>, portions corresponding to the two linear sides 74a and 74b. In this way, the second connection flow paths <NUM> can be arranged in wide regions outside the recess <NUM> of the second adapter body <NUM>.

A tapered surface (engagement surface) <NUM> is formed on the inner periphery of the lower surface of the clamp plate <NUM> so as to be abutted by the engagement balls <NUM>. While the engagement balls <NUM> is in contact with the tapered surface <NUM> of the clamp plate <NUM> from below, the clamp base <NUM> that holds the engagement balls <NUM> cannot move upward relative to the second adapter body <NUM>. The clamp plate <NUM> has a pair of positioning holes <NUM> on the upper surface of the clamp plate <NUM>. The positioning pin <NUM> projecting from the flange portion <NUM> of the clamp base <NUM> is inserted into the positioning hole <NUM> of the clamp plate <NUM>.

As shown in <FIG> and <FIG>, the second adapter body <NUM> has a separation operation hole <NUM> having an internal thread. The separation operation hole <NUM> opens on a side surface of the second adapter body <NUM> and extends up to the hole <NUM> of the second adapter body <NUM>. The separation operation hole <NUM> is formed at a position corresponding to the notch groove 42a of the projecting portion <NUM> of the clamp base <NUM>.

As described above, since the notch groove 42a of the clamp base <NUM> is disposed at a position overlapping the holding holes 40a to 40f in the height direction, it is not necessary to make the second adapter body <NUM> longer in the vertical direction to form the separation operation hole <NUM>. That is, the height of the second adapter body <NUM> can be made as low as possible. Thus, the overall height of the end-effector exchange device <NUM> can be made as low as possible.

A release bolt <NUM> as a release operation tool is inserted and screwed into the separation operation hole <NUM>. The distal end of the release bolt <NUM> enters into the notch groove 42a of the clamp base <NUM>. An end portion of the release bolt <NUM> is supported by the flange portion <NUM> of the second adapter body <NUM>. When the cam member <NUM> is at the position where the cam member <NUM> has moved to the projecting end, the release bolt <NUM> is rotated and advanced from the side surface of the second adapter <NUM> by using a tool such as a driver, whereby the distal end of the release bolt <NUM> can be brought into contact with the second tapered surface 62c of the cam member <NUM>.

The second connector <NUM> is attached to the second adapter body <NUM> at a position close to, of the outer periphery of the recess <NUM> of the second adapter body <NUM>, a portion corresponding to the arcuate side 74d. The second connector <NUM> is provided with electrical contacts <NUM> for supplying electric power necessary for the end effector. The electrical contact <NUM> of the second connector <NUM> is connected to the electrical contact <NUM> of the first connector <NUM>.

The second adapter body <NUM> has bolt insertion holes <NUM> extending vertically through the second adapter body <NUM>. The end effector is attached to the second adapter body <NUM> using bolts (not shown) that are inserted from the upper surface of the second adapter body <NUM> through the bolt insertion hole <NUM>.

Next, an operation of coupling the first adapter <NUM> to the second adapter <NUM> by supplying and discharging air will be described. In the initial state, the first adapter <NUM> attached to a robot arm is separated from the second adapter <NUM> to which a predetermined end effector has been attached. Further, air has been supplied to the second pressure chamber <NUM> through the second port <NUM>, and the cam member <NUM> integrated with the piston <NUM> has moved to the retracted end (second position).

The robot arm is driven from the initial state so that the projecting portion <NUM> of the clamp base <NUM> faces the clamp plate <NUM>. Thereafter, the first adapter <NUM> is brought close to the second adapter <NUM> while the central axis X1 of the first adapter <NUM> is aligned with the central axis X2 of the second adapter <NUM>. The projecting portion <NUM> of the clamp base <NUM> passes through a central portion of the annular clamp plate <NUM> and enters the bore <NUM> of the second adapter body <NUM>.

At this time, although there is a possibility that the engagement balls <NUM> held by the clamp base <NUM> will come into contact with the side surface of the cam portion <NUM> of the cam member <NUM> and project out from the projecting portion <NUM> of the clamp base <NUM>, a force for coupling the first adapter <NUM> to the second adapter <NUM> is not generated. This is because the cam member <NUM> is positioned at the retracting end (second position) and the engagement balls <NUM> are in a state in which the engagement balls <NUM> can move freely.

After the projecting portion <NUM> of the clamp base <NUM> enters the hole <NUM> of the second adapter body <NUM>, air is supplied to the first pressure chamber <NUM> through the first port <NUM> and air in the second pressure chamber <NUM> is discharged through the second port <NUM>. As a result, the cam member <NUM> integrated with the piston <NUM> moves downward. When the cam member <NUM> moves downward, the engagement balls <NUM> are pushed by the second tapered surface 62c of the cam portion <NUM> and project out from the projecting portion <NUM> of the clamp base <NUM>.

Thereafter, the engagement balls <NUM> come into contact with the cylindrical surface 62a of the cam portion <NUM> and further come into contact with the first tapered surface 62b of the cam portion <NUM>. When the engagement balls <NUM> come into contact with the first tapered surface 62b, the engagement balls <NUM> are pushed by the first tapered surface 62b and are strongly sandwiched between the first tapered surface 62b and the tapered surface <NUM> of the clamp plate <NUM>. In this way, the first adapter <NUM> is attracted to the second adapter <NUM>.

In this state, even if a force to separate the first adapter <NUM> from the second adapter <NUM> is applied, the first adapter <NUM> does not separate from the second adapter <NUM>. This is because when a force to separate the first adapter <NUM> from the second adapter <NUM> is applied, the engagement balls <NUM> separate from the first tapered surface 62b of the cam portion <NUM> and come into contact with the cylindrical surface 62a of the cam portion <NUM> but a further force to move the engagement balls <NUM> in the retracting direction is not applied. That is, a self-locking state is achieved. In this way, the coupling of the first adapter <NUM> with the second adapter <NUM> is completed.

Next, an operation in a case where the first adapter <NUM> is separated from the second adapter <NUM> by supplying and discharging air will be described. The first adapter <NUM> is coupled to the second adapter <NUM>, and work is performed by a robot arm to which a predetermined end effector has been attached. Thereafter, when the end effector is replaced, it is necessary to separate the first adapter <NUM> from the second adapter <NUM>. This is because attachment and detachment of the end effector to and from the second adapter body <NUM> are performed by inserting and removing bolts from the upper surface of the second adapter body <NUM> through the bolt insertion holes <NUM>.

To separate the first adapter <NUM> from the second adapter <NUM>, air is supplied to the second pressure chamber <NUM> through the second port <NUM>, and air in the first pressure chamber <NUM> is discharged through the first port <NUM>. Thus, the cam member <NUM> integrated with the piston <NUM> moves to the retracting end, and the engagement balls <NUM> can be retracted to a position where the engagement balls <NUM> do not project out from the projecting portion <NUM> of the clamp base <NUM> (see <FIG>). In this state, if a force is applied to separate the first adapter <NUM> from the second adapter <NUM>, the engagement balls <NUM> are pushed by the tapered surface <NUM> of the clamp plate <NUM> and retracted to a position where the engagement balls <NUM> do not project out from the projecting portion <NUM> of the clamp base <NUM>. Thus, the first adapter <NUM> separates from the second adapter <NUM>.

Next, a case where the first adapter <NUM> is separated from the second adapter <NUM> by the operation of the release bolt <NUM> will be described. It is assumed here that the supply of air for separating the first adapter <NUM> from the second adapter <NUM> has stopped, or that the thrust of the piston <NUM> has been lost due to breakage or the like of the piston packing <NUM>. In this case, the first adapter <NUM> can be forcibly separated from the second adapter <NUM> by manually operating the release bolt <NUM> as explained below.

The operator screws the release bolt <NUM> from the side surface of the second adapter <NUM> using a tool such as a driver and brings the distal end of the release bolt <NUM> into contact with the second tapered surface 62c of the cam member <NUM>. At this time, it is desirable to support the second adapter <NUM> or the end effector in some way so that the second adapter <NUM> or the end effector does not move. Without such support, when the cam member <NUM> moves to a position where the engagement balls <NUM> contact the second tapered surface 62c, a gap is created between the first adapter <NUM> and the second adapter <NUM>, and the amount the cam member <NUM> is pushed up by the release bolt <NUM> is reduced. When the release bolt <NUM> is further screwed, the cam member <NUM> can be pushed to the retracted end (see <FIG>). When the supply of air is stopped, since the pressure of air does not act on the cam member <NUM> integrated with the piston <NUM>, the force required to operate the release bolt <NUM> is small.

When the cam member <NUM> is pushed in to the retracting end, the engagement balls <NUM> can be retracted to a position where the engagement balls <NUM> do not project out from the projecting portion <NUM> of the clamp base <NUM>. In this state, if a force is applied to separate the first adapter <NUM> from the second adapter <NUM>, the engagement balls <NUM> are pushed by the tapered surface <NUM> of the clamp plate <NUM> and retracted to a position where the engagement balls <NUM> do not project out from the projecting portion <NUM> of the clamp base <NUM>. Thus, the first adapter <NUM> separates from the second adapter <NUM>.

The end-effector exchange device <NUM> according to the present embodiment has the separation operation hole <NUM> into which the release bolt <NUM> is inserted. Therefore, when the supply of air is stopped, the first adapter <NUM> can be separated from the second adapter <NUM> by manually operating the release bolt <NUM>. The notch groove 42a of the clamp base <NUM> is arranged at a position overlapping the holding holes 40a to 40f in the height direction, and the separation operation hole <NUM> of the second adapter body <NUM> is formed at a position corresponding to the notch groove 42a. Therefore, the height of the projecting portion <NUM> of the clamp base <NUM> can be made as low as possible, and the height of the second adapter body <NUM> can be made as low as possible. Therefore, the overall height of the end-effector exchange device <NUM> can be made as low as possible.

Next, an end-effector exchange device <NUM> according to a second embodiment of the present invention will be described with reference to <FIG> and <FIG>. For the end-effector exchange device <NUM> according to the second embodiment, constituent elements thereof, which are the same as those of the end-effector exchange device <NUM> according to the first embodiment, are denoted by the same reference numerals, and detailed description of such features is omitted.

The second adapter body <NUM> of the end-effector exchange device <NUM> has a pair of slits <NUM> on the side surfaces of the second adapter body <NUM>. The pair of slits <NUM> are used to support the second adapter <NUM> on a stand (not shown). The second adapter <NUM> is supported, for example, on a stand installed on the floor surface in a state in which the central axis line X2 of the second adapter <NUM> is oriented in the horizontal direction.

The second adapter body <NUM> has a plurality of connection flow paths <NUM> for supplying fluid the end effector requires. Each connection flow path <NUM> penetrates the second adapter body <NUM> in the vertical direction. Each fluid port <NUM> of the first adapter body <NUM> communicates with each connection flow path <NUM> of the second adapter body <NUM> via the first connection flow path <NUM>. The second adapter body <NUM> does not have a fluid port opening on a side surface.

The pair of slits <NUM> and the plurality of connection flow paths <NUM> are disposed close to, of the outer periphery of the recess <NUM> of the second adapter body <NUM>, portions corresponding to two linear sides 74a and 74b. Thus, the pair of slits <NUM> and the plurality of connection flow paths <NUM> can be arranged in wide regions on the outer periphery of the recess <NUM> of the second adapter body <NUM>.

According to the end-effector exchange device <NUM> according to the present embodiment, in a case where the second adapter body <NUM> is formed with the pair of slits <NUM>, it is possible to form the slits at a portion of the second adapter body <NUM>, the portion having a sufficient space.

Next, an end-effector exchange device <NUM> according to a third embodiment of the present invention will be described with reference to <FIG>. For the end-effector exchange device <NUM> according to the third embodiment, the same or equivalent components as those of the end-effector exchange device <NUM> according to the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The second adapter body <NUM> has a separation operation hole <NUM> into which a release rod <NUM> as a release operation tool is inserted. The separation operation hole <NUM> is not provided with an internal thread. The separation operation hole <NUM> opens on a side surface of the second adapter body <NUM> and extends to the hole <NUM> of the second adapter body <NUM>. The separation operation hole <NUM> is formed at a position corresponding to the notch groove 42a of the projecting portion <NUM> of the clamp base <NUM>. The release rod <NUM> includes a rod-shaped insertion portion 114a and a grip portion 114b for coaxially coupling and supporting the insertion portion 114a. The distal end of the insertion portion 114a is rounded.

It is assumed here that the supply of air for separating the first adapter <NUM> from the second adapter <NUM> has stopped, or that the thrust of the piston <NUM> has been lost due to breakage or the like of the piston packing <NUM>. In this case, the operator can forcibly separate the first adapter <NUM> from the second adapter <NUM> by inserting the release rod <NUM> into the separation operation hole <NUM> of the second adapter body <NUM>.

When the release rod <NUM> is inserted into the separation operation hole <NUM> of the second adapter body <NUM>, the distal end of the release rod <NUM> comes into contact with the second tapered surface 62c of the cam member <NUM>. At this time, as in the case of the first embodiment, it is desirable that the second adapter <NUM> or the end effector is supported in some way so as not to move. When the operator pushes the release rod <NUM>, the cam member <NUM> can be pushed to the retracted end. When the supply of air is stopped, since the pressure of air does not act on the cam member <NUM> integrated with the piston <NUM>, only a small force is required to push the release rod <NUM> inward.

Claim 1:
An end-effector exchange device (<NUM>, <NUM>, <NUM>) comprising:
a first adapter (<NUM>);
a second adapter (<NUM>); and
a release operation tool (<NUM>, <NUM>),
wherein
the first adapter is attached to the second adapter in a manner that the first adapter is configured to be coupled to and separated from the second adapter,
the first adaptor (<NUM>) is configured to be attached to a robot arm or a transfer device,
the second adaptor (<NUM>) is configured to be attached to an end effector
the first adapter includes
a piston (<NUM>) driven by supply and discharge of air,
a cam member (<NUM>) integrally coupled to the piston, and
an engagement ball (<NUM>) configured to be in contact with a side surface of a cam portion (<NUM>) of the cam member,
in a case where the cam member is in a first position, the engagement ball projects and prevents separation between the first adapter and the second adapter,
in a case where the cam member is in a second position, the engagement ball is retracted and allows separation between the first adapter and the second adapter,
characterized in that
the release operation tool (<NUM>, <NUM>) is configured to come into contact with the side surface of the cam portion, and
the second adapter (<NUM>) includes a separation operation hole (<NUM>, <NUM>) into which the release operation tool (<NUM>, <NUM>) is inserted.