| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a tool replacement device which can detect a collision or the like of a tool, can hold the tool even if power supply is interrupted, and can provide highly accurate robot arm movement for moving a tool with realizing easy replacement work of the tool. <P>SOLUTION: The tool replacement device 1 is equipped with a case member 10, in which an engaging ball 29 supported between a holding member 20 and a movable member 30 is pushed inside the holding member 20 by a pushing face formed on a movable member 30 urged by a second spring to be engaged with the tool. The engaging ball 29 can be moved inside the movable member 30 by pushing the movable member 30 against the urging force of the second spring. A shock sensor 40 is provided to detect a moving distance of the holding member 20 which holds the tool. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
