초록 ▼

An attaching and detaching device that detachably attaches two structures includes a base fixed to one structure of the two structures and formed in a tabular shape, one or more engaging members supported by the base movably along a surface direction of the base and configured to engage with the oth

An attaching and detaching device that detachably attaches two structures includes a base fixed to one structure of the two structures and formed in a tabular shape, one or more engaging members supported by the base movably along a surface direction of the base and configured to engage with the other structure, an urging member configured to urge the engaging member toward an engaging direction in which the engaging member engages with the other structure, and a releasing mechanism including an operation lever configured to perform operation for moving the engaging member in a direction opposite to the engaging direction and releasing an attached state in which the two structures are attached to each other.

대표청구항 ▼

1. An attaching and detaching device which is provided between an arm and an end effector of a robot so that the arm and the end effector are detachable from the attaching and detaching device, the attaching and detaching device comprising: a base plate that is fixable to the arm and that is quadran

1. An attaching and detaching device which is provided between an arm and an end effector of a robot so that the arm and the end effector are detachable from the attaching and detaching device, the attaching and detaching device comprising: a base plate that is fixable to the arm and that is quadrangle-shaped, the base plate having first, second, and third sides at a periphery of the base plate, the first and second sides being directly adjacent to and perpendicular to each other in a plan view, the first side of the base plate having a cutout in the plan view, the third side of the base olate being located on an opposite side of the base plate from the second side;a pair of engaging members including a first engaging member and a second engaging member, the pair of engaging members being supported by the base plate, the first and second engaging members being provided directly adjacent to the second and third sides of the base plate, respectively, each of the first and second engaging members being movable along a surface direction of the base plate and being configured to be engageable with a respective projection of the end effector;a pair of urging members including first and second urging members, the pair of urging members being supported by the base plate, the first urging member being provided directly adjacent to the second side of the base plate and being located next to the first engaging member, the second urging member being provided directly adjacent to the third side of the base plate and being located next to the second engaging member, the urging members being configured to urge the engaging members toward an engaging direction in which the engaging members are engageable with the projections of the end effector in an engaging position; anda releasing mechanism that is supported by the base plate, the releasing mechanism including an operation lever configured to move the engaging members in a disengaging direction opposite to the engaging direction so that the engaging members are in a disengaging position where the arm is disengageable with the end effector, the releasing mechanism further including a link mechanism having a linkage bar pivotally mounted on the base plate, the linkage bar having a first end and an opposing second end, the first end being coupled to the first engaging member, the second end being coupled to the second engaging member,wherein the operation lever is configured to control pivotal movement of the linkage bar to thereby control movement of the engaging members in either the engaging direction or the disengaging direction; andwherein when the engaging members are in the engaging position, the operation lever is located in the cutout in the plan view so that the operation lever is completely located in an inner side of a contour of the arm in the plan view. 2. The attaching and detaching device according to claim 1, wherein each of the engaging members includes an engaging surface that inclines with respect to the surface direction of the base plate and is engageable with the respective projection of the end effector. 3. The attaching and detaching device according to claim 1, wherein the base plate includes two or more insert-through holes through which each projection is insertable. 4. The attaching and detaching device according to claim 1, wherein the base plate defines first and second grooves, the first engaging member and the first urging member are disposed within the first groove, and the second engaging member and the second urging member are disposed within the second groove, andthe grooves are configured to guide movement of the engaging members in either the engaging direction or the disengaging direction. 5. The attaching and detaching device according to claim 4, wherein the urging members each include a compression coil spring inserted into the respective groove together with the respective engaging member. 6. The attaching and detaching device according to claim 1, wherein a toggle mechanism is configured by the operation lever and the link mechanism. 7. The attaching and detaching device according to claim 1, wherein the operation lever is arranged on a first surface of the base plate, and the link mechanism is arranged on a second surface, which is opposite to the first surface, of the base plate. 8. The attaching and detaching device according to claim 1, wherein the operation lever moves each engaging member resisting an urging force of each urging member. 9. A robot comprising: an arm;an end effector; andan attaching and detaching device that is provided between the arm and the end effector, the attaching and detaching device being configured to selectively attach and detach the end effector to and from the arm, the attaching and detaching device including:a base plate that is fixable to the arm and that is quadrangle-shaped, the base plate having first, second, and third sides at a periphery of the base plate, the first and second sides being directly adjacent to and perpendicular to each other in a plan view, the first side of the base plate having a cutout in the plan view, the third side of the base plate being located on an opposite side of the base plate from the second side;a pair of engaging members including a first engaging member and a second engaging member, the pair of engaging members being supported by the base plate, the first and second engaging members being provided directly adjacent to the second and third sides of the base plate, respectively, each of the first and second engaging members being movable along a surface direction of the base plate and being configured to be engageable with a respective projection of the end effector;a pair of urging members including first and second urging members, the pair of urging members being supported by the base plate, the first urging member being provided directly adjacent to the second side of the base plate and being located next to the first engaging member, the second urging member being provided directly adjacent to the third side of the base plate and being located next to the second engaging member, the urging members being configured to urge the engaging members toward an engaging direction in which the engaging members are engageable with the projections of the end effector in an engaging position; anda releasing mechanism that is supported by the base plate, the releasing mechanism including an operation lever configured to move the engaging members in a disengaging direction opposite to the engaging direction so that the engaging members are in a disengaging position where the arm is disengageable with the end effector, the releasing mechanism further including a link mechanism having a linkage bar pivotally mounted on the base plate, the linkage bar having a first end and an opposing second end, the first end being coupled to the first engaging member, the second end being coupled to the second engaging member,wherein the operation lever is configured to control pivotal movement of the linkage bar to thereby control movement of the engaging members in either the engaging direction or the disengaging direction, andwherein when the engaging members are in the engaging position, the operation lever is located in the cutout in the plan view so that the operation lever is completely located in an inner side of a contour of the arm in the plan view. 10. The robot according to claim 9, wherein each of the engaging members includes an engaging surface that inclines with respect to the surface direction of the base plate and is engageable with the respective projection of the end effector. 11. The robot according to claim 9, wherein the base plate includes two or more insert-through holes through which each projection is insertable. 12. The robot according to claim 9, wherein the base plate defines first and second grooves, the first engaging member and the first urging member are disposed within the first groove, and the second engaging member and the second urging member are disposed within the second groove, and the grooves are configured to guide movement of the engaging members in either the engaging direction or the disengaging direction. 13. The robot according to claim 12, wherein the urging members each include a compression coil spring inserted into the respective groove together with the respective engaging member. 14. The robot according to claim 9, wherein a toggle mechanism is configured by the operation lever and the link mechanism. 15. The robot according to claim 9, wherein the operation lever is arranged on a first surface of the base plate, and the link mechanism is arranged on a second surface, which is opposite to the first surface, of the base plate. 16. The robot according to claim 9, wherein the operation lever moves each engaging member resisting an urging force of each urging member.