1339154 * 九、發明說明： ， 【發明所屬之技術領域】 本發明涉及-種夾具更換裝置’尤其涉及—種應用於 機械臂的夾具更換裝置 【先前技術】 在工業生產中，機械臂越來越多地用來取代工人從事 .環境惡劣、勞動強度大、高危險性、重複性大的作举，例 如鈑金折弯或搬運等作業等。機械臂在作業過程中，需要 .根據作業内容的不同及針對的產品不同而更換夾具。 #統地’給機械臂更換夾具通常係人工使用扳手、螺 絲刀等工具將夾具從機械臂上拆卸下來，再安裝所需要的 爽具、。此種方式費時 '費力，制約了工業領域的自動化生 產，尤其會給流水線生產造成生產停頓，降低了生產效 【發明内容】 冑，於此’有必要提供—種能夠實現自動快速更換爽 錢^具以提咼生產效率的夾具更換裝置。 -種夾具更換裝置，其用以給機械臂更換夾具，該機 械臂包括-個第六軸。該夾具更換裝置包括一個與該第六 軸相連的本體部、-個固定於該本體部上的更換部、以及 -個固^於該夾具上的連接部。該本體部包括—個收容空 二：-個第一氣體通道、一個第二氣體通道以及一個活塞。 /第I體通道及该第二氣體通道均與該收容空間相連 .穴，該活塞收容於該收容空間内。該更換部包括一個側壁 ^又有複數收容通孔的突台、複數收容於該複數收容通孔 7 1339154 .内的滾珠' 以及一個貫通該突台的第一通孔。該第一通孔 與該活塞相對應。該連接部包括一個與該突台相配合的第 一通孔，遠離該本體部的方向，該第二通孔的孔壁為逐 漸增大的斜坡以與該複數滾珠緊密接觸。 ▲ 與先别技術相比’本發明提供的夾具更換裝置利用向 ，該第-氣體通道通入氣體推動該活塞壓迫該複數滾珠，從 而使該複數滾珠與該第二通孔的孔壁緊密接觸， 以使該更 換部與該連接部吸合，並利用向該第二氣體通道通入氣體 推動該活塞解除該複數滾珠受到的壓迫，從而使該更換部 與該連接部分離，最終實現夾具的快速更換。 【實施方式】 ' 下面將結合附圖，對本發明作進一步的詳細說明。 請一併參閱圖1及圖2，本發明提供的夾具更換裝置 100用於給機械臂200更換夾具300。該機械臂2〇〇包括一 個第五軸202以及一個第六軸2〇4,該第六軸2〇4連接於該 第五轴202。 該夾具更換裝置1〇〇包括一個與該第六軸2〇4相連的 本體部110、一個更換部12〇、一個連接部13〇、三個第一 螺釘140、以及複數第二螺釘15〇。 凊一併參閱圖1、圖2及圖3，該本體部no包括一個 收谷空間112、一個第一氣體通道114、一個第二氣體通道 • 116、一個活塞U8、三個與該第一螺釘140相對應的第一 螺孔113、複數與該複數第二螺釘15〇相對應的第二螺孔 115、以及兩個定位銷117。該第一氣體通道114及該第二 1339154 氣體通道116均與該收容空間112相連通。該活塞118收 容於該收容空間112内，該活塞118包括一個本體118a、 一個從該本體118a延伸的圓柱體118b、一個從該圓柱體 118b延伸的圓台118c以及一個套設於該本體部118a上的 止擋部118d。 該更換部120包括一個位於其側壁120a的電訊號母接 頭121、一個突台122、複數滾珠124、一個貫通該突台122 的第一通孔126、三個與該第一螺孔113相對應的第一沉孔 # 123、複數與該第二螺孔115相對應的第二沉孔125、兩個 與該定位銷117對應的第一定位通孔127以及一個第三氣 體通道129。該突台122的側壁122a開設有複數收容通孔 128。該複數滾珠124收容於該複數收容通孔128内。每個 滾珠124的直徑大於每個收容通孔128沿該突台122徑向 的深度，且該收容通孔128的孔徑小於該滚珠124的直徑。 該第一通孔126與該活塞118相對應。該更換部120藉由 __該第一螺釘140依次穿過該第一沉孔123及該第一螺孔113 而固定於該本體部110上。該本體部110與該更換部120 藉由該第二螺釘150依次穿過該第二沉孔125及該第二螺 孔115並從該本體部110伸出而與該第六軸204相連。 該連接部130包括一個位於其側壁132的電訊號公接 頭134、一個第二通孔136、一個第四氣體通道138、兩個 第二定位通孔137、以及複數固定孔139。該電訊號公接頭 134與該電訊號母接頭121相配合。該第二通孔136與該突 台122相配合，沿遠離該第六軸204的方向，該第二通孔 9 1339154 • 136的孔壁135為逐漸增大的斜坡以與該複數滾珠124緊密 接觸1第四氣體通道138與該第三氣體通道129相配合。 /第疋位通孔137與該定位銷117及該第一定位通孔127 相對應》亥連接部13〇藉由螺釘（圖未示）穿過該固定孔⑶ 固定於該失具3〇〇上。 使用該夾具更換裝置1〇〇給該機械臂2〇〇更換夾具3〇〇 時首先，該更換部120與連接部130處於分離狀態（圖3 示）且該連接部130藉由螺訂（圖未示）穿過該固定孔139 固定於該夹具3〇〇上。 - 接著該更換部120與該連接部130處於快速吸合的階 段，請一併參閱圖1、圖2及圖4，該第六轴2〇4帶動該本 體部110及該更換部120朝接近該連接部13〇的方向運動， 且保證該定位銷117伸入該第二定位通孔137内，此時該 第四氣體通道138與該第三氣體通道129逐漸配合，該電 訊號公接頭134與該電訊號母接頭121逐漸配合，氣體開 儀||始通入該第一氣體通道114内推動該活塞118的本體118a 朝接近該第二通孔136的方向運動，該本體u8a帶動該圓 台118c處的大角度圓錐面沿該第二通孔136徑向壓迫該複 數滾珠124 ’由於係大角度圓錐面壓迫該複數滾珠ι24，產 生的力度相對較小，因此該更換部120與該連接部130只 是快速吸合。 然後該更換部120與連接部130處於加力吸合階段， 請一併參閱圖1、圖2及圖5 ’當該電訊號公接頭134與該 電訊號母接頭121完全配合後，該第六軸204停止運動， 1339154 大量氣體繼續通入該第一氣體通道114内推動該活塞ιΐ8 的本體118a朝接近該第二通孔136的方向運動，此時，該 圓柱體118b與該圓台118(；相接處壓迫該複數滾珠124，由 於該活塞118與每個滾珠124接觸面積變小而加大了給予 該滾珠124的力，從而使該更換部12〇與連接部13〇緊緊 吸合在一起。同時，該第四氣體通道138與該第三氣體通 道129完全配合，且該機械臂2〇〇帶動該夾具3〇〇進行操 作時，該第四氣體通道138與該第三氣體通道129相連通 可以為夾具200提供動力或者係用作其他輔助功能。 最後該更換部120與連接部13〇處於吸合鎖緊階段， 請參閱圖6,氣體繼續通入該第一氣體通道114内推動該活 塞118的本體118a朝接近該第二通孔136的方向運動直至 該本體118a受到該止擋部118d的阻擋❺此時，該圓柱體 118b的圓柱面壓迫該複數滾珠124，該連接部13〇與該夾 具300的重力藉由該複數滾珠124作用在該活塞ιΐ8上， 钃•而且此時即使不通入氣體至該第一氣體通道114，該連接部 130及該夾具300仍然與該更換部12〇吸合在一起而不會脫 落。 '另外，若該機械臂200更換夾具時，該機械臂200必 須先將該夾具300放置在夾具承載台（圖未示）上，即需要使 該連接部130與該更換部12〇分離開。首先該第二氣體通 迢116内通入氣體，該氣體推動該活塞118的本體朝 .返離^亥第一通孔的方向運動，此時該滾珠慢慢退 回该收容通孔128内直至不受到該活塞118的壓迫。接著 11 1339154 ㈣六軸204帶動該本體部m及該更換部12〇朝遠離該 連接部130的方向運動，且使該定位銷117脫離該第二定 位通孔137,該電訊號公接頭134脫離該電訊號母接頭 121，以及該第四氣體通道138脫離該第三氣體通道^9。 可以理解，本實施方式中的定位銷117、第一定位通孔 127以及第二定位通孔137並不局限於本實施方式中為兩 個’可以係任意個數，只需要起到定位作用方便該更換部 魯120與該連接部13〇吸合即可。該第一螺釘14。、該第一螺 孔113、以及該第一沉孔123並不局限於本實施方式中為三 個，可以係至少兩個，只需要滿足該更換部12〇藉由該第 一螺釘140依次穿過該第一沉孔123及該第一 固定於該本體部110上即可。 畔孔113而 本發明提供的夾具更換裝置1〇〇利用向該第一氣體通 道^14通入氣體推動該活塞118壓迫該複數滾珠124，從而 使邊複數滾珠124與該第二通孔136的孔壁135 鋤錢該更換部12〇與該連接部13G吸合，並利用向該第二 乳體通道116通入氣體推動該活塞118解除該複數滾珠124 受到的壓迫’從而使該更換部12〇與該連接部13〇分離， 最終實現夾具300的快速更換。 綜上所述，本發明確已符合發明專利之要件，遂依法 提出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案 .技藝之人士援依本發明之精神所作之等效修飾或變化，皆 應涵蓋於以下申請專利範圍内。 12 1339154 【圖式簡單說明】 圖1為本發明提供的夾具更換裝置與第六軸及爽具相連的 立體示意圖。 圖2為圖1中夾具更換裝置的立體分解圖。 圖3為圖1中夹具更換裝置的更換部與連接部分離狀態的 示意圖。1339154 * IX. Description of the invention: [Technical field of the invention] The present invention relates to a type of fixture replacement device, particularly to a fixture replacement device for a mechanical arm. [Prior Art] In industrial production, mechanical arms are increasingly Many places are used to replace workers' work, such as harsh environment, high labor intensity, high risk, and high repetitiveness, such as sheet metal bending or handling. The robot arm needs to be replaced during the operation. The fixture is replaced according to the content of the job and the product to be used. #统地's mechanical arm replacement fixture is usually manually removed using a wrench, a screwdriver and other tools to remove the clamp from the arm and then install the required cool. This method is time-consuming and laborious, restricting the automatic production in the industrial field, especially causing production pauses in the production line and reducing the production efficiency. [Inventive content] 胄, this is necessary to provide a kind of automatic quick change of cool money ^ A fixture changer with improved production efficiency. A jig changing device for replacing a jig for a robot arm, the arm comprising a sixth shaft. The jig changing device includes a body portion connected to the sixth shaft, a replacement portion fixed to the body portion, and a connecting portion fixed to the jig. The body portion includes a receiving space: a first gas passage, a second gas passage, and a piston. The first body passage and the second gas passage are connected to the receiving space. The piston is received in the receiving space. The replacement portion includes a side wall, a plurality of receiving holes for receiving the through holes, a plurality of balls housed in the plurality of receiving through holes 7 1339154, and a first through hole penetrating the protruding portion. The first through hole corresponds to the piston. The connecting portion includes a first through hole that cooperates with the protruding portion, away from the body portion, the hole wall of the second through hole is a gradually increasing slope to be in close contact with the plurality of balls. ▲ Compared with the prior art, the fixture changing device provided by the present invention utilizes the gas passage of the first gas passage to push the piston to press the plurality of balls, so that the plurality of balls are in close contact with the hole wall of the second through hole. So that the replacement portion is sucked into the connecting portion, and the piston is released by pushing the gas into the second gas passage to release the compression of the plurality of balls, thereby separating the replacement portion from the connecting portion, and finally realizing the clamp. Quick replacement. [Embodiment] The present invention will be further described in detail below with reference to the accompanying drawings. Referring to Figures 1 and 2 together, the jig changing device 100 provided by the present invention is used to replace the jig 300 with the robot arm 200. The robot arm 2 includes a fifth shaft 202 and a sixth shaft 2〇4, and the sixth shaft 2〇4 is coupled to the fifth shaft 202. The jig replacing device 1A includes a body portion 110 connected to the sixth shaft 2〇4, a replacement portion 12A, a connecting portion 13A, three first screws 140, and a plurality of second screws 15A. Referring to Figures 1, 2 and 3 together, the body portion no includes a receiving space 112, a first gas passage 114, a second gas passage 116, a piston U8, three and the first screw. A corresponding first screw hole 113, a plurality of second screw holes 115 corresponding to the plurality of second screws 15A, and two positioning pins 117. The first gas passage 114 and the second 1339154 gas passage 116 are both in communication with the receiving space 112. The piston 118 is received in the receiving space 112. The piston 118 includes a body 118a, a cylinder 118b extending from the body 118a, a circular table 118c extending from the cylinder 118b, and a sleeve 118a. The upper stop portion 118d. The replacement portion 120 includes a telecommunication female connector 121 on the side wall 120a, a projection 122, a plurality of balls 124, a first through hole 126 extending through the projection 122, and three corresponding to the first screw hole 113. The first counterbore #123, a plurality of second counterbore 125 corresponding to the second screw hole 115, two first positioning through holes 127 corresponding to the positioning pin 117, and a third gas passage 129. A plurality of receiving through holes 128 are defined in the side wall 122a of the boss 122. The plurality of balls 124 are received in the plurality of receiving through holes 128. The diameter of each of the balls 124 is greater than the depth of each of the receiving through holes 128 along the radial direction of the projections 122, and the diameter of the receiving through holes 128 is smaller than the diameter of the balls 124. The first through hole 126 corresponds to the piston 118. The replacing portion 120 is fixed to the main body portion 110 by the first screw 140 passing through the first counterbore 123 and the first screw hole 113 in sequence. The body portion 110 and the replacement portion 120 are sequentially connected to the second counterbore 125 and the second screw hole 115 through the second screw 150 and extend from the body portion 110 to be connected to the sixth shaft 204. The connecting portion 130 includes an electrical signal male connector 134 at its side wall 132, a second through hole 136, a fourth gas passage 138, two second positioning through holes 137, and a plurality of fixing holes 139. The electrical signal connector 134 is mated with the electrical female connector 121. The second through hole 136 cooperates with the protrusion 122. In the direction away from the sixth axis 204, the hole wall 135 of the second through hole 9 1339154 • 136 is a gradually increasing slope to be close to the plurality of balls 124. The contact 1 fourth gas passage 138 cooperates with the third gas passage 129. The first through hole 137 is corresponding to the positioning pin 117 and the first positioning through hole 127. The connecting portion 13 is fixed to the missing piece by a screw (not shown) through the fixing hole (3). on. When the jig replacement device 1 is used to replace the jig 3 with the jig 2, the replacement portion 120 and the connecting portion 130 are in a separated state (shown in FIG. 3) and the connecting portion 130 is screwed (Fig. 3) Not shown) is fixed to the jig 3 through the fixing hole 139. - The replacement part 120 and the connection part 130 are in a stage of rapid engagement. Please refer to FIG. 1 , FIG. 2 and FIG. 4 together. The sixth axis 2〇4 drives the main body part 110 and the replacement part 120 toward each other. The connecting portion 13 is moved in the direction of the connecting portion 13 and the positioning pin 117 is inserted into the second positioning through hole 137. At this time, the fourth gas passage 138 is gradually matched with the third gas passage 129. The electrical signal connector 134 is gradually engaged. The body of the piston 118 is moved into the first gas passage 114 to move the body 118a of the piston 118 toward the second through hole 136. The body u8a drives the circle. The large-angle conical surface at the table 118c radially presses the plurality of balls 124' along the second through hole 136. Since the plurality of balls are pressed against the plurality of balls, the generated force is relatively small, so the replacement portion 120 is connected thereto. The section 130 is only a quick pull. Then, the replacement part 120 and the connecting part 130 are in the energizing and attracting phase. Please refer to FIG. 1 , FIG. 2 and FIG. 5 'When the electrical signal male connector 134 is fully matched with the electrical signal female connector 121 , the sixth The shaft 204 stops moving, 1339154 a large amount of gas continues to pass into the first gas passage 114 to push the body 118a of the piston ι 8 to move toward the second through hole 136. At this time, the cylinder 118b and the circular table 118 ( The plurality of balls 124 are pressed at the joint, and the contact area between the piston 118 and each of the balls 124 is increased to increase the force given to the balls 124, so that the replacement portion 12A and the connecting portion 13 are tightly engaged. At the same time, the fourth gas passage 138 is fully engaged with the third gas passage 129, and the fourth gas passage 138 and the third gas passage are engaged when the mechanical arm 2 is driven to move the clamp 3 The 129 phase communication can provide power to the clamp 200 or be used as other auxiliary functions. Finally, the replacement portion 120 and the connecting portion 13 are in the suction locking phase. Referring to FIG. 6, the gas continues to pass into the first gas passage 114. Push the piston 118 The body 118a moves toward the second through hole 136 until the body 118a is blocked by the stopping portion 118d. At this time, the cylindrical surface of the cylindrical body 118b presses the plurality of balls 124, the connecting portion 13 and the clamp The gravity of 300 acts on the piston ι 8 by the plurality of balls 124, and at this time, even if gas is not supplied to the first gas passage 114, the connecting portion 130 and the jig 300 are still sucked with the replacement portion 12 In addition, if the robot arm 200 replaces the jig, the robot arm 200 must first place the jig 300 on the jig carrier (not shown), that is, the connection portion 130 needs to be The replacement portion 12 is separated. First, the second gas passage 116 is filled with a gas, and the gas pushes the body of the piston 118 toward the first through hole, and the ball slowly returns to the same. The inside of the through hole 128 is received until it is not pressed by the piston 118. Then, 11 1339154 (four) six shafts 204 drive the main body portion m and the replacement portion 12 to move away from the connecting portion 130, and the positioning pin 117 is disengaged from the Second positioning through hole 1 37, the electrical signal male connector 134 is detached from the electrical signal female connector 121, and the fourth gas passage 138 is detached from the third gas passage 2.9. It can be understood that the positioning pin 117 and the first positioning through hole 127 in the embodiment are 127. And the second positioning through hole 137 is not limited to the two in the embodiment, and may be any number, and only needs to be positioned to facilitate the replacement of the replacement portion 120 and the connection portion 13 . The first screw hole 113 and the first counterbore hole 123 are not limited to three in the embodiment, and may be at least two, and only need to satisfy the replacement portion 12 by the first The screw 140 passes through the first counterbore 123 in sequence and the first portion is fixed to the body portion 110. The side hole 113 and the jig changing device 1 provided by the present invention pushes the gas into the first gas passage 14 to push the piston 118 to press the plurality of balls 124, thereby causing the plurality of balls 124 and the second through holes 136. The hole wall 135 saves the replacement portion 12A and the connection portion 13G, and pushes the gas to the second emulsion passage 116 to push the piston 118 to release the compression of the plurality of balls 124, thereby causing the replacement portion 12 to be pressed. The 〇 is separated from the connecting portion 13〇, and finally the quick replacement of the jig 300 is achieved. In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art, in light of the spirit of the invention, are intended to be included within the scope of the following claims. 12 1339154 BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the jig changing device provided in the present invention connected to a sixth shaft and a cool device. Figure 2 is an exploded perspective view of the jig changing device of Figure 1. Fig. 3 is a view showing a state in which the replacement portion of the jig replacing device of Fig. 1 is separated from the connecting portion.
圖4為圖1中爽具更換裝置的更換部與連接部快速吸合狀 態的示意圖。 圖5為圖1中夾具更換裝置的更換部與連接部加力吸合狀 態的示意圖。 圖6為圖1中夾具更換裝置的更換部與連接部吸合鎖緊狀 態的示意圖。 【主要元件符號說明】 本體部 110 夾具更換裝置 100 收容空間 112 第一螺孔 113 第二螺孔 115 第一氣體通道 114 定位銷 117 第二氣體通道 116 活塞 118 本體 118a 圓柱體 118b 圓台 118c 止擋部 118d 更換部 120 側壁 120a 、 122a 、 132 突台 122 第一沉孔 123 滚珠 124 第二沉孔 125 第一通孔 126 收容通孔 128 第一定位通孔 127 13 1291339154 連接部 130 第三氣體通道 孔壁 135 電訊號母接頭 第二通孔 136 電訊號公接頭 固定孔^ 139 第二定位通孔 第一螺釘 140 第四氣體通道 第二螺釘 150 機械臂 第五轴 202 第六軸 夾具 300 121 134 137 138 200 204Fig. 4 is a schematic view showing the state in which the replacement portion and the connecting portion of the refreshing device of Fig. 1 are quickly sucked. Fig. 5 is a schematic view showing the state in which the replacement portion and the connecting portion of the jig replacing device of Fig. 1 are energized and sucked. Fig. 6 is a schematic view showing the state in which the replacement portion and the connecting portion of the jig replacing device of Fig. 1 are engaged and locked. [Main component symbol description] Main body portion 110 Fixing device 100 accommodating space 112 First screw hole 113 Second screw hole 115 First gas passage 114 Locating pin 117 Second gas passage 116 Piston 118 Main body 118a Cylinder 118b Round table 118c Retaining portion 118d replacement portion 120 side wall 120a, 122a, 132 projection 122 first counterbore 123 ball 124 second counterbore 125 first through hole 126 receiving through hole 128 first positioning through hole 127 13 1291339154 connection portion 130 third gas Channel hole wall 135 telecommunication female connector second through hole 136 telecommunication connector male fixing hole ^ 139 second positioning through hole first screw 140 fourth gas passage second screw 150 mechanical arm fifth shaft 202 sixth axis clamp 300 121 134 137 138 200 204
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