KR102463937B1 - Tool changer for Robot - Google Patents

Abstract

The present invention discloses a tool changer. In the present invention, the base and the coupling member are connected, and a first coupling part that performs at least one of a linear motion and a rotational motion according to the movement of the coupling member, a tool member is connected, and the first coupling part is linear A second coupling part coupled with the first coupling part during movement and rotational motion or separated from the first coupling part during a linear motion of the first coupling part, seated on the base or separated from the base, and disposed on the base And, it supports the first coupling portion, and includes a first biasing portion for guiding the rotational movement of the first coupling portion and the first coupling portion.

Description

Tool changer {Tool changer for Robot}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus, and more particularly to a tool changer.

Robots can be manufactured to be used for various tasks in various working environments. In this case, the robot may have a hand to correspond to the working environment. Such a hand may be fixed to the robot arm, and the hand may have various structures to correspond to a task performed by the robot.

At this time, the hand as described above must be changed to a shape corresponding to the work and/or the work object or the like, or the operation method must be different. However, to change the shape of the hand or to change the position of the component that drives the hand in order to change the operation method requires considerable skill, and a problem of malfunction due to the change of the shape or the position of the component may occur. have.

In order to solve this problem, technologies for providing a hand suitable for work and/or a work object by making the hand detachable from the robot arm have been developed. In addition, structures for easily separating the hand from the robot arm or coupling the hand to the robot arm are being developed.
A technique for separating the hand from the robot arm as described above is disclosed in Korean Patent Application Laid-Open No. 10-2008-0004043.

SUMMARY Embodiments of the present invention are intended to provide a tool changer that allows quick and easy coupling and separation of a hand and a robot arm.

In one embodiment of the present invention, the base and the coupling member are connected, and a first coupling part that performs at least one of a linear motion and a rotational motion according to the movement of the coupling member, a tool member is connected, and the second coupling member is connected. A second coupling part coupled to the first coupling part during the linear motion and rotational motion of the first coupling part or separated from the first coupling part during the linear motion of the first coupling part, and seated on the base or separated from the base; Disclosed is a tool changer disposed on the base, supporting the first coupling part, and including the first coupling part and a first biasing part for guiding the rotational movement of the first coupling part.

In this embodiment, the base may include a base support portion and a support portion disposed to be spaced apart from the upper surface of the base support portion and connected to the base support portion.

In this embodiment, the base may further include a first elastic part disposed between the upper surface of the base support part and the support part, and providing an elastic force to the support part.

In this embodiment, the first coupling part, a first coupling housing, and a linear motion part disposed inside the first coupling housing and capable of linear motion inside the first coupling housing, and the linear motion part are connected to the first coupling It may include a first contact portion protruding from the housing and in contact with the first biasing portion.

In this embodiment, the first coupling part may further include a second elastic part disposed between the first coupling housing and the linear motion part.

In this embodiment, the first coupling part may further include a linear motion guide part connected to the first coupling housing to guide the motion of the linear motion part.

In this embodiment, the first coupling part is disposed between the first coupling housing and the linear motion part and according to the motion of the linear motion part, a position fixing part in which the amount of protrusion to the outer surface of the first coupling housing is adjusted. more may be included.

In this embodiment, the second coupling part may include a second coupling housing and a second contact part protruding from the second coupling housing.

In this embodiment, the second coupling portion, disposed in the second coupling housing, may further include a second biasing portion for urging the first coupling portion.

In this embodiment, the second coupling portion, disposed in the second coupling housing, may further include a first guide portion for guiding the path of the first coupling portion.

In this embodiment, the first biasing part, a biasing base fixed to the base, and protruding from the biasing base, at least one of the first coupling part and the second coupling part is seated, the first It may include a pressing protrusion for pressing a portion of at least one of the first coupling portion and the second coupling portion.

In this embodiment, the first biasing unit may further include a rotation block connected to the first coupling unit and rotating with the first coupling unit when the first coupling unit rotates.

In this embodiment, the first urging unit may further include a second guide unit disposed on the rotation block and inserted into the first coupling unit.

In this embodiment, the first biasing unit may further include a biasing elastic part connecting the rotation block and the biasing base.

In this embodiment, the protrusion includes a first seating surface and a second seating surface supporting at least one of the first coupling part and the second coupling part to be disposed at different heights, and the first It may include a first inclined surface that connects between the seating surface and the second seating surface and is inclined, and a second inclined surface that is disposed opposite the first inclined surface with respect to the second seating surface and is inclined.

The tool changer according to embodiments of the present invention can separate or combine the robot arm and the hand through a simple structure.

The tool changer according to embodiments of the present invention can accurately couple the robot arm and the hand without separately aligning them.

The tool changer according to embodiments of the present invention may prevent external force from being applied to the robot arm and/or the hand by not using external energy when the robot arm and the hand are driven.

1 is a perspective view showing a robot arm assembly including a tool changer according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view showing the robot arm assembly including the tool changer shown in FIG. 1 .
FIG. 3A is a perspective view illustrating the tool changer shown in FIG. 1 ;
Figure 3b is an exploded perspective view showing the first coupling portion shown in Figure 3a.
Fig. 4 is a plan view showing the tool changer shown in Fig. 3A;
FIG. 5 is a cross-sectional view showing the tool changer shown in FIG. 3A .
6A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .
Fig. 6b is a cross-sectional perspective view showing the tool changer shown in Fig. 6a;
7A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .
Fig. 7b is a cross-sectional perspective view showing the tool changer shown in Fig. 7a;
8A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .
Fig. 8b is a cross-sectional perspective view showing the tool changer shown in Fig. 8a;
9A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .
Fig. 9B is a cross-sectional perspective view showing the tool changer shown in Fig. 9A;
Fig. 9c is a plan view showing the tool changer shown in Fig. 9a;
FIG. 10 is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .
11 is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .
12A is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .
12B is a cross-sectional view showing the tool changer shown in FIG. 12A .
13A is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .
13B is a cross-sectional view illustrating the tool changer shown in FIG. 13A .
14 is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Meanwhile, the terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” refers to the presence of one or more other components, steps, operations and/or elements mentioned. or addition is not excluded. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

A tool changer, which will be described later, can be used in various fields in which two members separated or coupled to each other are connected and used. For example, a tool changer may be used for a tool. In another embodiment, the tool changer may be used in the field of robotics. As another embodiment, the tool changer may be used in the field of construction machinery, such as a fork crane. In this case, the tool changer is not limited to the above, and can be used in any structure and device in which the end of the tool changer is to be replaced according to the operation. However, hereinafter, for convenience of description, a case in which the tool changer is used in the robot arm assembly will be described in detail.

1 is a perspective view showing a robot arm assembly including a tool changer according to an embodiment of the present invention. FIG. 2 is an exploded perspective view showing the robot arm assembly including the tool changer shown in FIG. 1 .

1 and 2 , the robot arm assembly 1 may include a coupling member 10 , a tool changer 100 , and a tool member 20 . The coupling member 10 may have various shapes. For example, the coupling member 10 may include a robot arm. As another embodiment, the coupling member 10 may be a structure including a plurality of frames. As another embodiment, the coupling member 10 may include a driving unit such as a cylinder. As another embodiment, the coupling member 10 may be a handle such as a tool. Hereinafter, for convenience of description, a case in which the coupling member 10 includes a robot arm will be described in detail.

The robot arm may be connected to a separate driving unit such as a motor and a cylinder to perform various motions such as linear motion and/or rotational motion. In this case, the robot arm may be formed in a bar shape. As another embodiment, the robot arm includes at least two frames, and it is also possible to include a joint structure in which adjacent frames are rotatably connected to each other. In this case, the robot arm may include a driving unit such as a motor that is disposed on the joint structure and rotates at least one of the frames adjacent to each other. The robot arm is not limited to the above and may include various shapes.

The tool changer 100 is disposed between the coupling member 10 and the tool member 20 to couple the coupling member 10 and the tool member 20 or to combine the coupling member 10 and the tool member 20 . can be released

The tool changer 100 may include a base 110 , a first coupling part 120 , a second coupling part 130 , and a first biasing part 140 .

The base 110 may be disposed on a separate structure (eg, the outer surface of the machine, the factory floor, the factory floor, the upper surface of the structure, etc.) or the ground. In this case, the first biasing unit 140 may be disposed on the base 110 . The base 110 as described above may include a base support part 111 , a support part 112 , and a first elastic part 113 .

The base support 111 may have various shapes. For example, the base support 111 may include a first base support 111a disposed on a separate structure or the ground, a second base support 111b disposed to be spaced apart from the first base support 111a, and a first base support part. A base connection part 111c disposed between the 111a and the second base support part 111b to connect the first base support part 111a and the second base support part 111b may be included. As another embodiment, although not shown in the drawings, the base support 111 may be formed in a plate or bar shape.

The support part 112 may be disposed to be spaced apart from the upper surface of the base support part 111 (eg, the upper surface of the second base support part 111b). In this case, the base support part 111 may be connected to the support part 112 through the first elastic part 113 .

The first elastic part 113 may be disposed between the base support part 111 and the support part 112 . In this case, when a force is applied to the support part 112 , the first elastic part 113 may partially absorb the force applied to the support part 112 . As an embodiment, the first elastic part 113 may include an elastic bar including silicone, rubber, or the like. As another embodiment, the first elastic part 113 may include a spring.

The first elastic part 113 as described above may directly connect the base support part 111 and the support part 112 . In another embodiment, the base support part 111 and the support part 112 are connected through a separate connection member (eg, bolt, pin, etc.), and the first elastic part 113 is disposed to surround the outer surface of the connection member. can be In this case, when a force is applied to the support part 112 , the support part 112 may linearly move the connection member along the longitudinal direction (eg, the height direction of FIG. 1 ) of the connection member. Hereinafter, for convenience of explanation, the connection member is disposed between the base support part 111 and the support part 112, and the first elastic part 113 is disposed to surround the connection member. do.

The first coupling unit 120 may be coupled to the robot arm. The second coupling part 130 may be selectively coupled to or separated from the first coupling part 120 . In this case, when the first coupling part 120 and the second coupling part 130 are coupled to each other, the first coupling part 120 may perform a linear motion and a rotation motion. On the other hand, when the first coupling part 120 and the second coupling part 130 are separated from each other, the first coupling part 120 may perform only a linear motion. The second coupling part 130 may be coupled to the tool member 20 . In the above case, the first coupling part 120 may be coupled to the robot arm through a bolt, etc., and the second coupling part 130 may be coupled to the tool member 20 through a bolt or the like.

The tool member 20 as described above may have various shapes. For example, the tool member 20 may include a hand used in a robot. As another embodiment, the tool member 20 may include various tools. In this case, the tool member 20 is not limited to the above, and may include a device or structure capable of performing various operations. However, hereinafter, for convenience of description, a case in which the tool member 20 includes a hand used in a robot will be described in detail.

Hereinafter, the tool changer 100 will be described in detail.

FIG. 3A is a perspective view illustrating the tool changer shown in FIG. 1 ; Figure 3b is an exploded perspective view showing the first coupling portion shown in Figure 3a. Fig. 4 is a plan view showing the tool changer shown in Fig. 3A; FIG. 5 is a cross-sectional view showing the tool changer shown in FIG. 3A .

3A to 5 , the tool changer 100 may include a base (not shown), a first coupling part 120 , a second coupling part 130 , and a first biasing part 140 . At this time, since the base has been described with reference to FIGS. 1 and 2 , the first coupling part 120 , the second coupling part 130 , and the first biasing part 140 will be described in detail below.

The first coupling part 120 includes a first coupling housing 121, an upper housing 122, a first contact part 123, a linear motion part 124, a second elastic part 125, a linear motion guide part 126. , it may include a position fixing unit 127 and a position unit 128 .

The first coupling housing 121 is disposed inside the 1-1 coupling housing (121a) and the 1-1 coupling housing (121a) forming the exterior, extending from the inner surface of the 1-1 coupling housing (121a) It may include a 1-2 first coupling housing (121c). At this time, the 1-2 coupling housing (121c) may be arranged to shield the upper portion of the 1-1 coupling housing (121a). In this case, the thickness of the portion of the 1-2 coupling housing (121c) connected to the inner surface of the 1-1 coupling housing (121a) and the 1-2 coupling housing (121c) disposed in the center of the 1-1 coupling housing (121a) ) may have different thicknesses. For example, the thickness of the first 1-2 coupling housing (121c) portion disposed in the center of the 1-1 coupling housing (121a) may be greater than the thickness of other portions of the 1-2 coupling housing (121c). In addition, the thickness of the first 1-2 coupling housing (121c) is in the range of a predetermined distance from the center of the 1-1 coupling housing (121a) from the center of the 1-1 coupling housing (121a) 1-2 coupling housing (121c) may be uniform in the portion. The thickness of the 1-2 coupling housing 121c may be decreased as the thickness of the 1-2 coupling housing 121c approaches the inner surface of the 1-1 coupling housing 121a at the end of the same portion. In addition, the thickness of the 1-2 coupling housing (121c) may be kept constant until the inner surface of the 1-1 coupling housing (121a) becomes smaller.

A first insertion hole 121a-1 through which the first contact part 123 passes may be formed in the 1-1 coupling housing 121a as described above. In this case, the first insertion hole 121a-1 may be formed in a long hole shape instead of a circular shape. For example, the first insertion hole 121a-1 may be formed to be elongated in the height direction of the 1-1 coupling housing 121a. In addition, a hole through which the position fixing part 127 selectively protrudes may be formed in the 1-1 coupling housing 121a. In this case, the hole may be formed to correspond to the number of the position fixing parts 127 and may be disposed on the outer surface of the first coupling housing 121 .

The first coupling housing 121 may include a protrusion 121b coupled to the first guide part 134 and selectively coupled to the second biasing part 133 . The protrusion 121b may be formed in a plate shape, and may protrude from the outer surface of the 1-1 coupling housing 121a. In this case, the protrusion 121b may include a first coupling hole 121b-1 into which a first guide part 134, which will be described later, is inserted.

The upper housing 122 is disposed on the upper portion of the 1-1 coupling housing (121a) may be partially inserted into the 1-1 coupling housing (121a). In addition, the upper housing 122 may be seated on the upper portion of the 1-2 first coupling housing (121c). In this case, the upper housing 122 may be connected to the robot arm through a bolt or the like. In addition, the upper housing 122 may be fixed to the first coupling housing 121 by being connected to the side surface of the 1-1 coupling housing 121a through a bolt or the like.

The first contact part 123 may be connected to the linear motion part 124 . In this case, the first contact part 123 may include a first connection part 123a and a first friction reducing part 123b. The first connection part 123a may be inserted into and connected to the linear motion part 124 . The first friction reducing portion 123b may be rotatably disposed on the first connecting portion 123a. In this case, the first friction reducing part 123b may be in the form of a roller. In this case, the first friction reducing part 123b may be formed of a material in various shapes. For example, as an embodiment, the first friction reducing part 123b may be formed of an elastic material such as rubber or silicone. As another embodiment, the first friction reducing part 123b may be formed of a synthetic resin material. As another embodiment, the first friction reducing unit 123b may include a core formed of a hard material such as metal therein, and an outer skin formed to surround the outer surface of the core, and may include an outer skin formed of rubber, silicone, synthetic resin, etc. do.

The linear movement unit 124 may be disposed inside the first coupling housing 121 to linearly move within the first coupling housing 121 . For example, the linear movement unit 124 may move up and down based on the first coupling housing 121 inside the first coupling housing 121 .

The linear motion unit 124 may include a first linear motion unit 124a and a second linear motion unit 124b coupled to each other. In this case, the second linear motion unit 124b may be disposed on the upper portion of the first linear motion unit 124a and connected through bolts, screws, pins, or the like.

The first linear motion part 124a may include a first part 124a-1, a second part 124a-2, and a connection part 124a-3. In this case, the first part 124a-1 and the second part 124a-2 may have a cylindrical shape. Also, the diameter of the cross section perpendicular to the height direction of the first portion 124a - 1 may be greater than the diameter of the cross section perpendicular to the height direction of the second portion 124a - 2 . That is, the distance between the outer surface of the first portion 124a-1 and the inner surface of the first coupling housing 121 may be smaller than the distance between the outer surface of the second portion 124a-2 and the inner surface of the first coupling housing 121 . In this case, a space may be formed between the outer surface of the second portion 124a - 2 and the inner surface of the first coupling housing 121 , and at least a portion of the position fixing unit 127 may be accommodated in this space. The connection part 124a-3 is disposed at the boundary between the first part 124a-1 and the second part 124a-2 to connect the first part 124a-1 and the second part 124a-2. have. In this case, since the outer surface of the connection part 124a-3 is formed as a curved surface or an inclined surface, the area of the cross section perpendicular to the height direction of the connection part 124a-3 may not change abruptly. In addition, since the outer surface of the connecting portion 124a-3 is formed as a curved surface or an inclined surface, it is possible to prevent the position fixing unit 127 from interfering with the movement of the linear movement unit 124 when the linear movement unit 124 moves.

The second elastic part 125 may be disposed between the 1-2 coupling housing 121c and the linear motion part 124 . In this case, the second elastic part 125 may be in the form of an elastic bar such as silicone or rubber. As another embodiment, the second elastic part 125 may include a spring. Hereinafter, for convenience of description, a case in which the second elastic part 125 is a spring will be described in detail.

At least one second elastic part 125 may be disposed. For example, when there is only one second elastic part 125 , although not shown in the drawings, the second elastic part 125 may be disposed in the center of the linear motion part 124 . As another embodiment, when there are at least two second elastic parts 125 , the at least two second elastic parts 125 may be disposed to be spaced apart from each other based on the center of the linear motion part 124 . In particular, when the at least two second elastic parts 125 are an even number, the two second elastic parts 125 may be arranged to be symmetrical to each other based on the center of the linear motion part 124 . In addition, when the at least two second elastic parts 125 are an odd number, the angles formed by the centers of the two adjacent second elastic parts 125 and the linear motion part 124 among the plurality of second elastic parts 125 are all may be the same.

The linear motion guide unit 126 may guide the linear motion of the linear motion unit 124 . The linear motion guide unit 126 may include at least one. At this time, when one linear motion guide part 126 is provided, the linear motion guide part 126 may be disposed in the center of the linear motion part 124 , and the second elastic part 125 is the linear motion guide part 126 . It may be arranged to surround the outer surface of the. When a plurality of linear motion guide parts 126 are provided, the linear motion guide part 126 may be disposed similarly to the above-described second elastic part 125 . At this time, each linear motion guide part 126 may be disposed so that each second elastic part 125 does not overlap, and each linear motion guide part 126 is disposed to overlap each second elastic part 125 . It is also possible Hereinafter, for convenience of explanation, a plurality of linear motion guide units 126 are provided, and a case in which they are arranged so as not to overlap each of the second elastic units 125 will be described in detail.

The linear motion guide unit 126 may be disposed to penetrate the linear motion unit 124 . At this time, the linear motion guide unit 126 may limit the range of motion of the linear motion unit 124 by being connected to the 1-2 first coupling housing (121c) and the located portion (128). In addition, when a plurality of linear motion guide parts 126 are provided, the angle formed by the center of the two adjacent linear motion guide parts 126 and the linear motion part 124 among the plurality of linear motion guide parts 126 is all linear. Since the motion guide unit 126 is the same, it is possible to prevent the linear motion unit 124 from being tilted during the linear motion of the linear motion unit 124 .

The position fixing unit 127 may be disposed between the linear motion unit 124 and the first coupling housing 121 . At this time, the amount of the position fixing unit 127 protruding from the first coupling housing 121 according to the movement of the linear motion unit 124 may be adjusted. A hole through which the position fixing part 127 protrudes may be formed in the first coupling housing 121 . In this case, the position fixing unit 127 may have a spherical shape. In this case, the diameter of the hole can be varied. For example, the diameter of the hole may increase toward the inner surface from the surface of the first coupling housing 121 . In this case, the diameter of the hole may be greater in the portion formed on the outer surface of the first coupling housing 121 than in other portions. In particular, the diameter of the hole formed on the outer surface of the first coupling housing 121 may be formed slightly smaller than the diameter of the position fixing portion (127). Therefore, the position fixing unit 127 may not pass through the hole.

The position fixing part 127 as described above may contact the first part 124a-1, the connection part 124a-3, or the second part 124a-2 according to the movement of the linear motion part 124. At this time, the position fixing unit 127 may not interfere with the movement of the linear motion unit 124 by being freely rotatable when in contact with the linear motion unit 124 .

A plurality of position fixing units 127 may be provided. In this case, the plurality of position fixing units 127 may be disposed to be spaced apart from each other along the outer surface of the linear motion unit 124 . In particular, the plurality of position fixing units 127 may be arranged in a circle on any plane perpendicular to the height direction of the linear motion unit 124 . In addition, a distance between the adjacent position fixing units 127 may be the same in the plurality of position fixing units 127 . Therefore, it is possible for the plurality of position fixing units 127 to move the same distance in the direction perpendicular to the movement direction of the linear motion unit 124 according to the position of the linear motion unit 124, and the linear motion unit 124 is tilted. can be prevented

The positioned portion 128 may be formed in a circular ring shape or a plate shape to be connected to the linear motion guide portion 126 . The located portion 128 may be disposed to be spaced apart from the 1-2 coupling housing 121c to provide a range of motion of the linear motion unit 124 by the length of the linear motion guide unit 126 .

The second coupling part 130 may include a second coupling housing 131 , a second contact part 132 , a second biasing part 133 , and a first guide part 134 .

The second coupling housing 131 may include a 2-1 coupling housing 131a, a 2-2 coupling housing 131b and a locking protrusion 131c. The 2-1-th coupling housing (131a) may have a space formed therein, and the first coupling part 120 may be inserted when coupled to the first coupling part 120 . The 2-2 coupling housing (131b) may be disposed inside the 2-1 coupling housing (131a), and the 2-th coupling housing (131a) is inserted through bolts, screws, etc. from the side surface. 1 may be combined with the coupling housing (131a). In this case, the 2-2 coupling housing 131b may be coupled to the tool member 20 . In particular, the 2-2 coupling housing 131b may be supported by exposing only a portion of the 2-2 coupling housing 131b to the outside to be coupled to the tool member 20 in the 2-1 coupling housing 131a.

The locking protrusion 131c may protrude from the inner surface of the 2-1 coupling housing 131a toward the linear motion part 124 . In this case, the locking protrusion 131c may include a first surface 131c-1 and a second surface 131c-2 formed to be inclined in opposite directions with respect to the apex. In the above case, the locking protrusion 131c not only prevents the position fixing part 127 from being separated, but also includes the first coupling part 120 and the first coupling part 120 through the first surface 131c-1 and the second surface 131c-2. Interference with the position fixing part 127 can be minimized when the second coupling part 130 is coupled and separated.

The second contact part 132 may include a second connection part 132a and a second friction reducing part 132b. At this time, since the second connection part 132a and the second friction reducing part 132b may be the same as or similar to the first connection part 123a and the first friction reducing part 123b described above, a detailed description thereof will be omitted. do it with

The second connection part 132a may be connected to the second coupling housing 131 . In this case, the second connection portion 132a may be formed integrally with the second coupling housing 131 or formed to be detachable. However, hereinafter, for convenience of description, the second connection portion 132a will be described in detail focusing on the case where it is integrally formed with the second coupling housing 131 .

The second biasing part 133 may be disposed in the 2-1 coupling housing 131a to press the first coupling part 120 according to the position of the first coupling part 120 . Specifically, the second biasing part 133 is disposed on the support protrusion 131d of the motion block 133a that moves according to the contact with the first coupling part 120 and the 2-1 coupling housing 131a, the motion block ( It may include a motion block guide (133c) for guiding the linear motion of 133a). The motion block 133a may be in contact with the protrusion 121b or applied while in contact with the protrusion 121b depending on the positions of the first coupling part 120 and the second coupling part 130 . In addition, the second biasing part 133 may include a third elastic part 133b disposed between the motion block 133a and the support protrusion 131d of the second-first coupling housing 131a. In this case, the third elastic part 133b may be formed to be the same as or similar to the first elastic part 113 described above, and thus a detailed description thereof will be omitted.

The first guide part 134 may be disposed on the 2-1 coupling housing 131a. In this case, a plurality of first guide parts 134 may be provided in the 2-1 coupling housing 131a. The plurality of first guide parts 134 may be disposed to be spaced apart from each other. In particular, the plurality of first guide parts 134 may be arranged to form the same angle with respect to the central axis of the second coupling part 130 .

The first guide portion 134 may be formed such that a portion facing the first coupling portion 120 has a smaller cross-sectional area in the height direction than other portions. That is, a portion of the first guide part 134 facing the first coupling part 120 may be formed in a conical shape. In addition, an end portion of the first guide part 134 coupled to the second coupling part 130 or connected to the second coupling part 130 may have a cylindrical shape. In this case, even if there is a slight difference in the positions of the first coupling part 120 and the second coupling part 130 during the first coupling part 120 and the second coupling part 130, it is The first guide part 134 may not be damaged.

The diameter of the first coupling hole 121b - 1 may be larger than the diameter of the cross-section of the conical shape of the first guide part 134 . Therefore, even when the positions of the robot arm and the tool member 20 do not correspond to the preset positions and a slight error occurs, the first guide part 134 is inserted into the first coupling hole 121b-1 to form the robot arm and the robot arm. It is possible to precisely match the central axis of the tool member 20 .

The first biasing unit 140 may be seated with the second coupling unit 130 , and applies a force to the first contact unit 123 according to at least one of a linear motion and a circular motion of the first coupling unit 120 . By adding it, the first coupling part 120 and the second coupling part 130 may be coupled or separated.

The first biasing unit 140 includes a biasing base 141 connected to a base (not shown), a biasing protrusion 142, a rotating block 143, a second guide part 144, a biasing elastic part 145, the second It may include a first fixing part 146 , a second fixing part 147 , and a third friction reducing part 148 .

The biasing base 141 may include a first biasing base 141a and a second biasing base 141b disposed to be spaced apart from each other. The biasing base 141 may include a biasing base connecting portion 141c for connecting the first biasing base 141a and the second biasing base 141b to each other. At this time, the force base connecting portion (141c) may be formed in various shapes. For example, as an embodiment, the biasing base connecting portion 141c is formed in a cylindrical shape of a metal material, and may be fixed by connecting the first biasing base 141a and the second biasing base 141b. As another embodiment, the first biasing base 141a and the second biasing base 141b are formed in a cylindrical shape of an elastic material such as rubber, silicone, synthetic resin, and the like, so that the first biasing base 141a and the second biasing base 141b are formed. ) can also be connected. In this case, it is possible to prevent the impact applied to the second biasing base (141b) from being transmitted to the first biasing base (141a). As another embodiment, a plurality of pressing base connection portions 141c may be provided, some of the plurality of pressing base connection portions 141c are formed in a cylindrical shape of a metal material, and the other part of the plurality of pressing base connection portions 141c is It is also possible to be formed in a cylindrical shape of an elastic material. At this time, the second biasing base 141b may be capable of linear movement along the longitudinal direction of some of the plurality of biasing base connection parts 141c. As another embodiment, the biasing base connecting portion 141c is formed in a cylindrical shape of a metal material, and the second biasing base 141b may move linearly along the longitudinal direction of the biasing base connecting portion 141c. At this time, a spring is disposed on the outer surface of the biasing base connection part 141c, and it is also possible to absorb the impact force applied to the second biasing base 141b. Hereinafter, for convenience of explanation, the biasing base connecting portion 141c is formed in a cylindrical shape of a metal material to connect the first biasing base 141a and the second biasing base 141b to fix the case in detail. do.

The pushing protrusion 142 may be formed to protrude from one surface of the second biasing base 141b in the direction of the first coupling part 120 . In this case, the force protrusion 142 may include a first seating surface 142a, a second seating surface 142b, a first inclined surface 142c, and a second inclined surface 142d. The first seating surface 142a and the second seating surface 142b may be disposed at different distances (or heights) from one surface of the second biasing base 141b. For example, the first seating surface 142a may be disposed closer from one surface of the second biasing base 141b than the second seating surface 142b. In this case, the first seating surface 142a and the second seating surface 142b may be flat. Also, the first inclined surface 142c and the second inclined surface 142d may be inclined in different directions. For example, the first inclined surface 142c may be an inclined surface in the form of ascending from the first seating surface 142a to the second seating surface 142b, and the second inclined surface 142d is the second seating surface 142b. It may be an inclined surface in the form of descending from the first seating surface 142a.

The rotation block 143 may be disposed on the second biasing base 141b. At this time, the rotation block 143 may rotate together during the rotational movement of the first coupling part 120 . In addition, the rotation block 143 may be provided with a rotation range limiting groove (143a). The rotation range limiting groove 143a may be disposed at least one of the ends of the rotation block 143 and at least one of the ends of the rotation block 143 . The rotation block 143 may be formed to be round. In addition, the rotation block 143 may include an avoiding groove 143c to avoid the biasing protrusion 142 , and may include a guide seating portion 143b in which the second guide portion 144 is disposed.

The second guide part 144 may be disposed on the rotation block 143 and selectively coupled to the second coupling part 130 . In this case, the second guide part 144 may be formed to be the same as or similar to the first guide part 134 . A plurality of second guide parts 144 may be provided, and the plurality of second guide parts 144 may be disposed to be spaced apart from each other. That is, the plurality of second guide parts 144 may be symmetrically disposed with respect to a central axis passing through the centers of the first coupling part 120 and the second coupling part 130 . As another embodiment, the plurality of second guide parts 144 may be disposed such that the angles between the adjacent second guide parts 144 and the central axis among the plurality of second guide parts 144 are the same.

The second guide part 144 as described above may be inserted into the guide coupling part 131e disposed in the 2-1 coupling housing 131a. At this time, a hole may be formed in the guide coupling part 131e so that the second guide part 144 is inserted. The diameter of the hole may be slightly larger than a portion in which the diameter of the cross-section of the second guide part 144 is constant.

The elastic force portion 145 may connect the rotation block 143 and the force base 141 . At this time, the elastic force portion 145 may move the rotation block 143 to the initial state when the rotation block 143 rotates. The elastic force portion 145 may be formed of an elastic material such as rubber, silicone, synthetic resin, or the like, and may have a bar shape or a string shape. As another embodiment, the elastic force portion 145 may include a spring. Hereinafter, for convenience of description, the elastic force portion 145 will be described in detail focusing on the case including a spring.

The first fixing part 146 and the second fixing part 147 may be disposed on the second biasing base 141b and the rotating block 143, respectively. The first fixing part 146 and the second fixing part 147 may fix both ends of the elastic elastic part 145, respectively. In this case, the second fixing part 147 may move together with the rotation block 143 , and the position of the second fixing part 147 may vary according to the rotation of the rotation block 143 . In this case, the length of the elastic force portion 145 may be variable. In addition, when the rotation block 143 rotates, the first fixing part 146 may limit the rotation range of the rotation block 143 by being disposed inside the rotation range limiting groove 143a.

The third friction reducing unit 148 is in contact with the rotation block 143 to guide the rotation of the rotation block 143 when the rotation block 143 rotates, as well as to prevent the rotation block 143 from being pushed out. have.

The third friction reducing unit 148 may be formed in the form of a roller. In this case, the third friction reducing unit 148 may include an elastic material. For example, the third friction reducing unit 148 may include a roller formed of an elastic material such as rubber or silicone, or a hard material such as metal therein, and an outer skin formed of an elastic material such as rubber or silicone. do.

A plurality of third friction reducing parts 148 as described above may be provided, and the plurality of third friction reducing parts 148 may be disposed to be spaced apart from each other. In addition, as an embodiment, each of the third friction reducing units 148 may be formed so that the central portion is drawn in than the other portions. For example, the third friction reducing unit 148 may be provided with a groove so that the side of the rotation block 143 is inserted. As another embodiment, the third friction reducing unit 148 has a flat central portion, and it is also possible to include a structure protruding at both ends. In this case, a pair of protruding structures may be provided, and the side surfaces of the rotating block 143 are disposed between the pair of protruding structures to rotate in the same plane when the rotating block 143 rotates.

Two first biasing units 140 as described above may be provided to be symmetrical to each other. In this case, the first biasing unit 140 disposed to face each other can not only support the second coupling unit 130 , but also keep the rotation of the first coupling unit 120 constant when the first coupling unit 120 rotates. It is possible to make it perform based on the central axis.

Meanwhile, a method of coupling or separating the first coupling part 120 and the second coupling part 130 from each other will be described in detail below.

6A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 . Fig. 6b is a cross-sectional perspective view showing the tool changer shown in Fig. 6a;

Referring to FIGS. 6A and 6B , the second coupling part 130 to which the coupling member 10 is coupled may be disposed on the first biasing part 140 . At this time, the second contact portion 132 is disposed on the first seating surface 142a of the force protrusion 142 and the first seating surface 142a is to support the tool member 20 and the second coupling part 130 . can

Thereafter, the coupling member 10 may be disposed so that the first coupling part 120 coupled to the coupling member 10 corresponds to the second coupling part 130 .

In this case, the linear motion unit 124 may be disposed under the 1-1 coupling housing 121a by the load and the first elastic unit 113 . For example, the linear movement unit 124 may be in contact with the located unit 128 . In addition, when the linear motion part 124 is disposed, the first contact part 123 may be disposed at the lowest end of the first insertion hole 121a-1. At this time, the position fixing part 127 may be in contact with the first portion 124a-1 of the 1-1 coupling housing 121a, and a part of the first-1-1 coupling housing 121a may be exposed to the outside of the hole. can The located portion 128 may support the linear movement portion 124 not to be separated.

7A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 . Fig. 7b is a cross-sectional perspective view showing the tool changer shown in Fig. 7a;

Referring to FIGS. 7A and 7B , the first coupling part 120 may be moved toward the second coupling part 130 by continuously moving the coupling member 10 in the first direction. For example, the coupling member 10 may descend, and the first coupling part 120 and the second coupling part 130 may come close to each other due to the descent of the coupling member 10 . When the coupling member 10 continues to move, the first coupling part 120 may come into contact with the force protrusion 142 , and the first contact part 123 may be seated on the force protrusion 142 .

In this case, a portion of the first coupling part 120 may be inserted into the second coupling part 130 . In addition, the first contact portion 123 may be seated on the second seating surface 142b. In this case, the first guide part 134 may be inserted into the first coupling hole 121b-1 of the protrusion 121b. In particular, a cone-shaped portion of the first guide portion 134 may be inserted into the first coupling hole (121b-1). In this case, even if the first guide part 134 is not located exactly at the center of the first coupling hole 121b-1, the first guide part 134 is inserted into the first coupling hole 121b-1 in the coupling process to be described later. When fully inserted, the first coupling portion 120 and the second coupling portion 130 can be coupled to each other at the correct position.

When the coupling member 10 continuously moves toward the second coupling part 130 , the first contact part 123 may be stopped in contact with the second seating surface 142b, and the first coupling housing 121 is coupled By moving together with the member 10 , the first insertion hole 121a - 1 may also move like the first coupling housing 121 .

In such a case, the linear motion unit 124 may be moved in the opposite direction to the moving direction of the coupling member 10 inside the first coupling housing 121 when it is assumed that the first coupling housing 121 is stationary. have. That is, the linear motion unit 124 may be supported by the first contact unit 123 , and the first coupling housing 121 may descend. In such a case, the position fixing part 127 may descend like the first coupling housing 121 .

When the first coupling housing 121 descends, the position fixing part 127 may pass through the locking protrusion 131c. In this case, the position fixing part 127 passes through the first surface 131c-1 of the locking protrusion 131c into the inside of the first coupling housing 121 and the first surface 131c-1 of the locking protrusion 131c. can be powered by In addition, as the first coupling housing 121 descends, the position fixing part 127 is a first part 124a-1, a connection part 124a-3 and a second part 124a-2 of the linear motion part 124. and may be disposed to correspond to the space between the inner surface of the second portion 124a-2 and the 1-1 coupling housing 121a in sequential contact with the .

In this case, the second biasing part 133 may be in a state in which a slight force is applied to the protrusion part 121b in contact with the protrusion part 121b. For example, the movement block 133a may come into contact with the protrusion 121b and move along with the movement of the coupling member 10 . At this time, the third elastic part 133b disposed between the motion block 133a and the support protrusion 131d may be compressed.

In such a case, the first coupling part 120 may not be completely inserted into the second coupling part 130 , and a space may be formed between the first coupling part 120 and the second coupling part 130 . can

8A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 . Fig. 8b is a cross-sectional perspective view showing the tool changer shown in Fig. 8a;

8A to 8B, in a state in which a portion of the first coupling part 120 is inserted into the second coupling part 130, the coupling member 10 rotates the first coupling part 120 in one direction. can For example, the coupling member 10 may rotate the first coupling part 120 in a counterclockwise direction with reference to FIG. 8A .

When the first coupling part 120 rotates counterclockwise as described above, the second coupling part 130 connected to the first guide part 134 also rotates counterclockwise together with the first coupling part 120 . can In this case, the second contact part 132 may move from the first seating surface 142a to the second seating surface 142b along the first inclined surface 142c, and the first contact part 123 may move to the second seating surface 142b. ) can move linearly.

In addition, when the second coupling part 130 rotates, the rotation block 143 connected to the second guide part 144 may also rotate. At this time, by rotating the second fixing part 147 together with the rotating block 143 , the length of the elastic elastic part 145 whose end is fixed to the first fixing part 146 may be increased. In addition, the third friction reducing unit 148 may guide the rotation of the rotation block 143 .

In this case, the second contact portion 132 may move along the first inclined surface 142c to rise. At this time, the 2-1 coupling housing 131a connected to the second contact portion 132 may also rise together with the second contact portion 132 . In addition, the position fixing part 127 may move along the second surface 131c-2 of the locking protrusion 131c disposed inside the second-first coupling housing 131a. That is, the position fixing part 127 may pass through the cutting edge between the first surface 131c-1 and the second surface 131c-2 according to the movement of the 2-1 coupling housing 131a. In this case, the position fixing part 127 may be disposed between the inner surface of the 2-1 coupling housing 131a and the second portion 124a-2 of the motion block 133a.

In this case, the motion block 133a may linearly move along the motion block guide 133c, and the third elastic part 133b may be compressed. At this time, the motion block 133a may maintain a state in contact with the protrusion 121b.

9A is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 . Fig. 9B is a cross-sectional perspective view showing the tool changer shown in Fig. 9A; Fig. 9c is a plan view showing the tool changer shown in Fig. 9a;

Referring to FIGS. 9A and 9B , the coupling member 10 may further rotate the first coupling part 120 in the above-rotated direction. In this case, the first contact portion 123 may descend along the second inclined surface 142d, and the second contact portion 132 may be disposed on the second seating surface 142b along the first inclined surface 142c. In this case, the first contact portion 123 may move from the upper side to the lower side of the first insertion hole 121a-1.

In such a case, the linear movement portion 124 may descend in accordance with the movement of the first contact portion 123 in the 1-1 coupling housing (121a). At this time, the position fixing part 127 may increase the amount protruding to the outside of the 1-1 coupling housing 121a while passing through the connection part 124a-3 of the linear motion part 124, and finally the linear motion part 124 ) by contacting the first portion (124a-1) of the first-1-1 coupling housing (121a), the maximum area can be exposed to the outside.

As described above, while the first coupling part 120 rotates, the second coupling part 130 may rise according to the movement of the second contact part 132 . Specifically, the second contact portion 132 rises from the first seating surface 142a to the second seating surface 142b along the first inclined surface 142c, so that the second contact portion 132 is connected to the 2-1 coupling housing ( 131a) can rise. In this case, the position fixing part 127 may be disposed below the second surface 131c - 2 .

The above operation may be finished after rotating by a certain angle. In this case, the rotation range of the first coupling part 120 may be limited by the rotation range limiting groove 143a and the first fixing part 146 of the rotation block 143 . Specifically, when the rotation block 143 rotates with the rotation of the first coupling part 120, the rotation range limiting groove 143a can also rotate together, and the second at one of the ends of the rotation range limiting groove 143a. One fixing part 146 may be in contact with the other one of the ends of the rotation range limiting groove (143a). In this case, the rotation block 143 may not rotate any more, and the coupling member 10 may stop the rotation of the first coupling part 120 by detecting that an excessive load is generated during rotation. At this time, the method of stopping the rotation of the coupling member 10 is not limited to the above, and it is also possible to determine based on the result detected by the encoder or the like.

As described above, when the coupling of the first coupling part 120 and the second coupling part 130 is completed, the motion block 133a moves linearly along the motion block guide 133c, so as to be as close as possible to the support protrusion 131d. may be disposed in contact with the protrusion 121b. Also, the third elastic part 133b may be in a compressed state.

FIG. 10 is a perspective view illustrating a first operation method of the tool changer shown in FIG. 1 .

Referring to FIG. 10 , the coupling member 10 and the tool member 20 may be bound by completing the coupling of the first coupling part 120 and the second coupling part 130 . The coupling member 10 may move linearly (eg, elevate) to separate the first coupling part 120 and the second coupling part 130 from the first biasing part 140 . At this time, the second elastic part (not shown) may apply a force to the linear motion part (not shown) while returning to the original state. The linear motion part may be in contact with a positioned part (not shown), and the first contact part (not shown) may be disposed at the lowest end of the first insertion hole (not shown) of the 1-1 coupling housing (not shown).

When the first coupling part 120 and the second coupling part 130 are separated, the second guide part 144 may be drawn out from the guide coupling part 131e.

In the above case, the constraint of the second guide part 144 is released, so that the elastic elastic part 145 may return to its initial length. At this time, the elastic force portion 145 may rotate the rotation block 143 in the opposite direction rotated in FIGS. 8A to 9B . In particular, the elastic elastic part 145 may apply a force to the second fixing part 147 .

Therefore, the tool changer 100 uses only the movement of the coupling member 10 without using a separate energy in the tool changer 100 itself to couple the coupling member 10 and the tool member 20 to the coupling member 10 . It is possible to couple the tool member 20 with the. In addition, the tool changer 100 can couple the coupling member 10 and the tool member 20 through a simple movement.

When the coupling member 10 and the tool member 20 are coupled through the tool changer 100 as described above, it is possible to absorb the impact. For example, as shown in FIG. 1 , the tool changer 100 in the linear direction of the coupling member 10 through at least one of the base 110 , the first pressing unit 140 , and the second pressing unit 133 . ) or it is possible to attenuate or absorb the force generated by the tool changer 100 to some extent.

11 is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .

Referring to FIG. 11 , in order to separate the tool member 20 from the coupling member 10 , the coupling member 10 may be disposed to correspond to the first biasing unit 140 on the base (not shown). Thereafter, the coupling member 10 may be lowered.

12A is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 . 12B is a cross-sectional view showing the tool changer shown in FIG. 12A .

12A and 12B , the coupling member 10 may continuously descend to seat the first contact portion 123 on the second seating surface 142b of the biasing protrusion 142 . At this time, the second guide part 144 may be inserted into the hole of the guide coupling part 131e to align the positions of the first coupling part 120 , the second coupling part 130 and the first biasing part 140 . have. Also, the second contact portion 132 may be spaced apart from the first seating surface 142a or the first inclined surface 142c or may be in contact with the first inclined surface 142c.

After that, if the lowering of the coupling member 10 is continued, the first contact portion 123 may be supported by the second seating surface 142b, and the 1-1 coupling housing 121a may be lowered. In this case, the first insertion hole 121a-1 is descended, and the 1-1 coupling housing 121a may descend in a state where the linear motion unit 124 is stopped. In this case, the distance between the linear motion part 124 and the 1-1 coupling housing 121a is gradually reduced, so that the second elastic part 125 can be compressed.

In addition, the first coupling housing 121 may be lowered by lowering the position fixing unit 127 as well. At this time, the position fixing part 127 may be in a state disposed below the second surface 131c-2 of the locking protrusion 131c. However, the position fixing unit 127 may be disposed in a movable space by being disposed between the second portion 124a-2 of the linear motion unit 124 and the inner surface of the 2-1 coupling housing 131a.

13A is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 . 13B is a cross-sectional view illustrating the tool changer shown in FIG. 13A . 14 is a perspective view illustrating a second operation method of the tool changer shown in FIG. 1 .

13A to 14 , after the first contact portion 123 is disposed on the second seating surface 142b of the biasing protrusion 142 , the coupling member 10 may further descend. In this case, the positions of the first contact portion 123 and the linear motion portion 124 may be maintained as they are, and only the first coupling housing 121 may continuously descend. At this time, the first coupling housing 121 may be stopped after descending more than a certain distance, and the second elastic part 125 may be in a maximally compressed state.

In this case, the second contact portion 132 may be disposed on the first seating surface 142a. In addition, the linear movement unit 124 may be disposed on the upper end of the 1-1 coupling housing (121a), it may be disposed at a position close to the 1-2 coupling housing (121c).

In the above case, the position fixing part 127 is disposed at a position corresponding to the outer surface of the second part 124a-2 of the linear motion part 124, so that it can be freely inserted into the 1-1 coupling housing 121a. can be

The coupling member 10 may be raised and lowered in the same state as in FIGS. 13A and 13B . In this case, the position fixing part 127 further enters the 1-1 coupling housing 121a by the second surface 131c-2 of the locking protrusion 131c and then again according to the movement of the linear motion part 124. The 1-1 coupling housing (121a) may protrude to the outside.

Specifically, when the coupling member 10 is raised and lowered as described above, the second elastic part 125 applies a force to fix the position of the linear motion part 124, thereby connecting the first contact part 123 and the second seating surface 142b. can keep In this case, only the first coupling housing 121 may rise, and the first coupling housing 121 may raise the position fixing part 127 while ascending. In addition, in the above case, the third elastic part 133b may raise the first coupling housing 121 by applying a force to the protrusion 121b through the motion block 133a. At this time, the motion block 133a may be linearly moved along the motion block guide 133c.

In the above case, the position fixing part 127 moves along the first surface 131c-1 of the locking protrusion 131c and is inserted into the 1-1 coupling housing 121a, thereby preventing interference with the locking protrusion 131c. may not occur.

Then, when the coupling member 10 rises over a certain distance, the first contact portion 123 may be separated from the second seating surface 142b of the biasing protrusion 142, and the first elastic portion 113 has an initial length. As a result, the linear motion unit 124 can maintain a state in contact with the located unit 128 . In this case, the first contact part 123 may be disposed at the lowermost end of the first insertion hole 121a-1. In addition, the first portion (124a-1) and the position fixing portion 127 of the linear motion portion 124 is in contact so that the position fixing portion 127 is exposed to the outer surface of the 1-1 coupling housing (121a) with a maximum area. can be derived.

In this case, the first guide part 134 may be withdrawn from the first insertion hole 121b-1 of the protrusion 121b.

In addition, since the second contact portion 132 is seated on the first seating surface 142a , the tool member 20 may be supported by the first biasing portion 140 together with the second coupling portion 130 .

Therefore, the tool changer 100 can separate the tool member 20 and the coupling member 10 from each other through one movement. In addition, the tool changer 100 can separate the tool member 20 from the coupling member 10 using only the driving force of the coupling member 10 .

The tool changer 100 may be used by coupling various types of tool members 20 to the coupling member 10 .

Although the present invention has been described with reference to the above-mentioned preferred embodiments, various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover such modifications and variations as long as they fall within the scope of the present invention.

1: Robot arm assembly 128: Positioned government
10: coupling member 130: second coupling part
100: tool changer 132: second contact portion
110: base 133: second loader
111: base support part 134: first guide part
112: support 140: first loader
113: first elastic part 141: biased base
120: first coupling portion 142: force protrusion
121: first coupling housing 143: rotation block
122: upper housing 144: second guide part
123: first contact part 145: elastic elastic part
124: linear motion unit 146: first fixed unit
125: second elastic part 147: second fixing part
126: linear motion guide part 148: third friction reducing part
127: position fixing unit 20: tool member

Claims (15)

Base;
a first coupling part to which the coupling member is connected, and performing at least one of a linear motion and a rotational motion according to the movement of the coupling member;
The tool member is connected, coupled with the first coupling part during linear and rotational movements of the first coupling part, or separated from the first coupling part during linear motion of the first coupling part, and seated on the base or at the base a second coupling part to be separated; and
It is disposed on the base, supports the second coupling part, and includes a first biasing part for guiding the rotational movement of the first coupling part and the second coupling part;
The first coupling unit,
a first coupling housing;
a linear motion part disposed inside the first coupling housing and capable of linear motion inside the first coupling housing; and
A tool changer comprising a; a first contact portion connected to the linear motion portion and protruding from the first coupling housing and in contact with the first pressing portion. The method of claim 1,
The base is
base support; and
A tool changer including a; a support part disposed to be spaced apart from the upper surface of the base support part and connected to the base support part. 3. The method of claim 2,
The base is
The tool changer further comprising: a first elastic part disposed between the upper surface of the base support part and the support part, and providing an elastic force to the support part. delete The method of claim 1,
The first coupling part,
The tool changer further comprising a; a second elastic part disposed between the first coupling housing and the linear motion part. The method of claim 1,
The first coupling part,
The tool changer further comprising a; a linear motion guide part connected to the first coupling housing to guide the motion of the linear motion part. The method of claim 1,
The first coupling part,
The tool changer further comprising a; a position fixing part disposed between the first coupling housing and the linear motion part to adjust the amount of protrusion to the outer surface of the first coupling housing according to the movement of the linear motion part. The method of claim 1,
The second coupling part,
a second coupling housing; and
A tool changer including a; a second contact portion protruding from the second coupling housing. 9. The method of claim 8,
The second coupling part,
The tool changer further comprising a; is disposed in the second coupling housing, a second biasing portion for urging the first coupling portion. 9. The method of claim 8,
The second coupling part,
The tool changer further comprising; a first guide part disposed in the second coupling housing and guiding a path of the first coupling part. The method of claim 1,
The first biasing unit,
a biasing base fixed to the base; and
Protruding from the biasing base, at least a portion of the first coupling part and the second coupling part is seated, the biasing protrusion part for urging at least one of the first coupling part and the second coupling part; Tool changer included. 12. The method of claim 11,
The first biasing unit,
The tool changer further comprising a; a rotary block connected to the first coupling portion and rotating together with the rotational movement of the first coupling portion. 13. The method of claim 12,
The first biasing unit,
The tool changer further comprising; a second guide part disposed on the rotation block and inserted into the first coupling part. 14. The method of claim 13,
The first biasing unit,
Tool changer further comprising a; elastic force connecting the rotation block and the force base. 12. The method of claim 11,
The protrusion includes a first seating surface and a second seating surface supporting at least one portion of the first coupling part and the second coupling part to be disposed at different heights from each other,
A tool changer comprising: a first inclined surface connected between the first seating surface and the second seating surface and inclined; and a second inclined surface disposed opposite to the first inclined surface with respect to the second seating surface.

Images