# US 12,179,339 B2 · Tool replacing device

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- Number: US 12,179,339 B2
- Document ID: US12179339B2
- Status: Granted
- Kind: B2
- Application number: 17/777,615
- Filed: 2020-10-30
- Published: 2022-12-29
- Granted: 2024-12-31
- Earliest claimed: 2019-11-28
- Assignees: Nitta Corporation
- Applicants: Nitta Corporation
- Inventors: Ryosuke Matsumoto; Hiroki Kikuchi
- Web page: https://patentgrep.com/patent/US12179339B2

## CPC

- B25J 15/0408: {Connections means}
- B25J 15/0433: {having gripping members}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A tool exchange device includes a first coupling member attached to one of a body side of an apparatus and a tool side and having a first coupling surface, and a second coupling member attached to the other of the body side and the tool side and having a second coupling surface capable of being in contact with the first coupling surface, in which the first coupling member includes, on the first coupling surface, a first pin, a second pin, and an auxiliary projection, the second coupling member includes, on the second coupling surface, a first hole, a second hole, and an auxiliary hole, a first gap is provided each between the first pin and the first hole and between the second pin and the second hole, a second gap is provided between the auxiliary projection and the auxiliary hole, and the second gap is larger than the first gap.

## Claims

### Claim 1

A tool exchange device comprising:
a first coupling member attached to one of a body side of an apparatus and a tool side and having a first coupling surface; and
a second coupling member attached to the other of the body side and the tool side and having a second coupling surface capable of being in contact with the first coupling surface,
wherein the first coupling member includes, on the first coupling surface,
a first pin,
a second pin, and
an auxiliary projection,
the second coupling member includes, on the second coupling surface,
a first hole that allows the first pin to enter and exit,
a second hole that allows the second pin to enter and exit, and
an auxiliary hole that allows the auxiliary projection to enter and exit,
a first gap in a direction parallel to the second coupling surface is provided each between the first pin and the first hole and between the second pin and the second hole,
a second gap in a direction parallel to the second coupling surface is provided between the auxiliary projection and the auxiliary hole, and
the second gap is larger than the first gap.

### Claim 2 (depends on 1)

The tool exchange device according to claim 1, wherein a length from the first coupling surface to a distal end of the auxiliary projection is shorter than a length from the first coupling surface to a distal end of the first pin and a length from the first coupling surface to a distal end of the second pin.

### Claim 3 (depends on 1)

The tool exchange device according to claim 1, wherein a distance between the first pin and the second pin is longer than a distance between the auxiliary projection and the first pin, and is longer than a distance between the auxiliary projection and the second pin.

### Claim 4 (depends on 1)

The tool exchange device according to claim 1, wherein the first pin, the second pin, and the auxiliary projection are tapered pins having a tapered portion whose diameter decreases toward the distal end.

### Claim 5 (depends on 1)

The tool exchange device according to claim 1, wherein
the second gap
is capable of forming a third gap between the auxiliary projection and the auxiliary hole at a position where the first pin and the first hole are in contact with each other and the second pin and the second hole are in contact with each other, and
is of a size that allows the auxiliary projection and the auxiliary hole to come into contact with each other by elastic deformation of the first coupling member and the second coupling member in a rotation direction about an axis intersecting the first coupling surface and the second coupling surface.

### Claim 6 (depends on 1)

The tool exchange device according to claim 1, wherein the first pin, the second pin, and the auxiliary projection are provided at positions that are not line-symmetric with respect to a straight line that passes through a center of the first coupling surface and is parallel to the first coupling surface.