• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to devices for automatic coupling and uncoupling of a tool carrier for a multi-axial manipulator, in which the last link of the kinematic chain of the manipulator and the tool carrier have connecting elements made with screwing capability, and the rotation drive of the latter
    公开号:SU1421251A3
    申请号:SU864024098
    申请日:1986-02-07
    公开日:1988-08-30
    发明作者:Циммер Эрнст；Кикут Бото
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

     and 25
    26
    ABOUT)
    4 N)
    Yu SL
     S
    The kinematic chain link serves as an energy source for screwing both connecting elements, which are ready for coupling, by operating the sculptor, i.e. in order to ensure quick change of various tools. For this purpose, the last link 6 of the kinematic chain of the manipulator, as well as the tool carrier 8 are provided with connecting elements 9, 10, as well as cooperating fastening elements 11 and 12. The fastening element 12 installed on the side of the manipulator 12 rotation on the other working link 17, which, when the connecting elements 9 and 10 approach the tool carrier 8, forms a stop — rotation: Z4. Due to the rotation of the last link 6 of the kinematic chain, the spinning process is caused. In addition, both working links 17 and 18 are rigidly connected to each other through the arresting device 20. This connection is eliminated when the rotation stopper 24 begins to act between the working link 17 and the tool carrier 8. In this way, the connection during the screwing process of the connecting parts 15 installed on the working link 17 with the connecting parts 16 provided on the tool carrier is achieved, so that an automatic transfer of energy, coolant agent and / or working medium is achieved. 10 hp, f-ly, 5il
    one
    The invention relates to devices for automatic coupling and uncoupling of the tool carrier for a multi-axis manipulator, in which the last link of the kinematic chain of the multipulator and the tool carrier have connecting elements that are screwable and the rotation drive of the n-heddle link of the kinematic chain serves as a power source for screwing both connecting elements which are ready for coupling by manipulating the manipulator.
    The object of the invention is to accelerate the coupling and uncoupling processes and to save energy.
    Figure 1 schematically shows a manipulator with a device for automatic tool changing; Fig. 2 is a schematic of the tool changer, section; Fig. 3 shows an embodiment of a tool changer, cross section; in Fig. 4 is a section A-A in fng.Z, in Fig. 5 is view B in Fig. 3.
    Manipulator 1 usually contains between 5-1t several axes that allow reaching any point in the zone of action along a given trajectory. Manipulator 1 (figure 1)
    It has a base 2, on which a node 3 is installed, rotating around a vertical axis. On this rotating unit 3 there is a turning unit 4 on which the rotating unit 5 is installed, both turning units 4 and 5 being rotatably installed around horizontal axes. The last link 6 is mounted to the rotating node 5 rotatably around such an axis,
    At the same time, the last link 6 has a flange 7, on which the tool carrier 8 is usually installed. In this case, the tool carrier 8 is fastened with the help of connecting elements 9 and 10, which when approaching between the tool carrier 8 and the last link 6 of the kinematic chain, enter meshed with each other and thus provide a rigid connection of the carrier
    8 tools with the last link 6. Different axes of the manipulator 1 allow to bring the connecting elements 9 and 10 into a concentric position
    For these connective elements
    9 and 10, it is true that the closing distance for mounting the tool carrier 8 should not be
     1D
    created by 2-G manipulator nodes 1. Obviously, in the last link 5, the rotational movement must create the required clamping force, so that only the rotational moment necessary for the drive is subjected to the load.
    Positive positions 9 and 10 in FIG. 2 denote both connecting elements spaced apart, with each connecting element 9 and 10 having a fastening element 11 and 12. As the connecting elements 9 and 10 approach each other, the centering bolt 13 first enters the corresponding centering hole 14, and then both elements 11 and 12 are brought into the position in which they are ready to engage. The connecting element 9 connected to the last link 6 must transmit the rotational movement of the last link 6 to the element 11, which engages with the adjoining element 11 on the connecting element 10 and ensures that both parts approach the closing position.
    The connecting elements 9 and 10 are provided with a connecting part 15 and a mating connecting part 16, which serve to create an automatic connection and to ensure the transfer of energy, refrigerant, working medium, etc. from the manipulator 1 to the tool carrier 8 during tool replacement; 1. During coupling, the connecting parts 15 and 16 cannot provide relative rotational movement between the connecting elements 9 and 10, which actually contradicts the basic idea of bringing the connecting elements 9 and 10 closer together using the fastening elements 11 and 12.
    In order to solve this problem, the connecting element with the last link 6 of the manipulator 1 connecting element 9 consists of two concentrically arranged working links 17 and 18 installed at the location of the stopper 19. The arresting device 20 has the task of rigidly connecting both working links 17 and 18, which usually rotation by rotation. With the help of the last link 6, only the first link is given, of which the external work link 18, but to ensure normal operation,
    five
    0
    d 5
    five
    0
    five
    0
    five
    0
    It is necessary that the second, internal working link 17, yields the same movement as the external working link 18, the arrester 20 consists of balls 21, is located in the holes 22 and under the influence of the spring 23, thus the rigid the connection of the operating links 17 and 18, which, however, is eliminated by overcoming a certain moment of rotation, and this is due to the fact that the balls 21 move into the holes 22 against the action of the springs 23,
    The working link 17 has a stopper 24, having the task of making a rigid connection between the connecting element 10 and the internal working link 17 when the connecting elements 9 and 10 approach each other. The stopper 19 consists of a centering bolt 25 entering the corresponding recess 26 of the connecting element 10 before elements 11 and 12 enter into interaction with each other,
    The carrier 8 of the tool with its connecting element 10 is installed on the bed 27 in a position protected from rotation (FIG. 1).
    The device works in a dim way.
    First, the manipulator 1 with the last link 6 is brought into a coaxial position relative to the carrier 8 of the tool. In this coaxial position according to FIGS. 1 and 2, the last link 6 ne, rempe (ay along the axis in the direction of the carrier 8 of the tool, as a result first, the stopper 24 acts by inserting the centering bolt 25 into the recess 26. Consequently, the elements 11 and 12 are simultaneously brought into the ready for screwing position. This position corresponds to the position of the screw element 28 in the input bird 29 of the hub shown (FIG. 4) 30, the software can ensure that the coaxial position of the stopper 24 is achieved if, when the elements 8 and 10 come together, the centering bolt 25 is not coaxial with respect to the recess 26,
    The flange 7 of the last link 6 can be rotated after centering is realized. Due to the rotational movement of the flange 7, the working link 18 together with the element 12 is rotated. Centering bapt
    13 enters hole 14 and ensures the concentric position of the parts.
    During the action of the stopper 24, the interaction of the elements 11 and 12 cannot cause the working link 17 to rotate, as it is kept at a constant position relative to the carrier 8 by means of the stopper 24, and the tool carrier 8 is fixedly mounted on the frame 27.: During the approach connecting elements 9 and 10, by interacting elements 11 and 12, connecting 15 is uniformly passing radially through part 15 and 16 into a second bolt 40, which at the ends of the rollers engage with each other, since 34 as screw elements Comrade. These they are no longer. the relative rollers perform interacting with the threaded rotational movement with respect to the section 41 of the element 11, moreover, each other. Owing to the effect of 20 remote control motrens, the parallel-sided entrance stopper 24 arresting device 20 is disconnected, the groove adjacent to the thread is, as the last section 41 transmitted by the last number 6 to the working link 18 is torque-driven. This large step, the component, of the puppet acts on the balls 21 with, for example, 18-24 mm (in the axial stationary working link 17 so that it is in the 25th direction), should provide axial
    they move into the holes 22 against the action of the springs 23.
    In addition, FIG. 2 shows the trip fuse 31, connecting the connecting flange 7 to the working link 18. This trip fuse can be made in any known way. It only has to ensure that the manipulator actuator 1 is turned off at the moment when the tool or tool carrier 8 hits an undesirable resistance.
    The flange 7 through the cutout fuse 31 acts on the hollow shaft 32, which is an essential part of the working link 18 (FIG. 2). In this hollow shaft 32, bolt 33 is mounted radially to the axis of rotation, having two rollers 34 on the ends of the rollers as retainers. Typically, the rollers 34 are included in the grooves 35 located on the front side on the flange plate 36 of the other working link 17. The bolt 33 is installed in the direction made as piston 37. The piston 37 or bolt 33 is exposed to a spring 38 mounted in the hollow shaft 32 and leaning against the ends of the wall. The bolt 33 is mounted for axial movement in the floor.
    35
    Apical movement of the connecting parts 15 and 16 to the end position
    nor using a small angle of rotation,
    30 It is recommended to perform, at the end of the threaded portion 41, a radially extending surface 43 of rotation to which the roller 345 abuts if the final position of the connecting Elements 9 and is reached. Thus, self-braking is provided, which can be further enhanced by the fact that a recess is made on the radial surface 43.
    Q 44 for each roller acting as a stop.
    Element 11 (FIG. 3) is made in the form of a stupid 30, into the hollow space of which the shaft 32 comes in with a bolt 40. The hub 30 is connected via a screw connection 45 to a spring 46 with a flange 47 attached to the tool carrier 8. Thus, against the force of the spring 46, the hub 30 has a certain clearance relative to the flange 47 or the carrier 8 tool Spring 46 (FIG. 4) at the same time serves to compensate for the difference; axial movement when the roller 34 is engaged with the recess 44, also.
    45
    50
    the shaft 32 along the spindle-shaped direction of the pre-tensioned spring 46
    elongated 39, in case the working link 17 is not moved, and the working
    the link 18 together with the hollow shaft 32 makes a rotational movement, then a separate roller 34 leaves the groove 35 and allows relative rotational movement of the working links 17 and 18. However, in the clutch position, a separate roller allows a rigid connection of the working links 17 and 18, which is provided by such an effort the springs that disconnect requires less power than the response of the fuse 31 o;
    With the same hollow shaft 32 co5
    apnoe movement of the connecting parts 15 and 16 to the final position g
    Neither use a small angle of 1 turn,
    0 It is recommended to perform on the end of the threaded portion 41 a radially extending surface 43 of rotation to which the roller 345 abuts if the end position of the connecting- is reached; Elements 9 and. Thus, self-braking is provided, which can be further enhanced by the fact that a recess is made on the radial surface 43.
    Q 44 for each roller acting as a stop.
    Element 11 (FIG. 3) is made in the form of a stupid 30, into the hollow space of which the shaft 32 comes in with a bolt 40. The hub 30 is connected via a screw connection 45 to a spring 46 with a flange 47 attached to the tool carrier 8. Thus, against the force of the spring 46, the hub 30 has a certain clearance relative to the flange 47 or the carrier 8 of the tool Spring 46 (FIG. 4) simultaneously serves to compensate for the difference; axial movement during the engagement of roller 34 with recess 44, in addition.
    five
    0
     pre-tensioned chickpea spring 46
    compensates for impulses when coupling elements 11 and 12 or connecting elements 9 and 10,
    The centering of the connecting elements 9 and 10 is accomplished by means of walls 48 and 49, designed in the form of a hollow cylinder, on the front side of which there are corresponding bevels 50, which facilitate charge insertion.
    The connecting element 10 located on the tool side and the working link 17 of the connecting element 9 arranged to lock against rotation have three stop bolts 51 and 52 arranged to each other, which come in contact in the final position of the connecting elements 9 and 10 and form a certain radial plane Zamezha neither.
    The final position of the closure of the connecting elements 9 and 10 is signaled by the approach of the adjustable contact pin 53 to the electrical switch 54 so that further operations can be performed by a command of the control device.
    Fig. 5 shows the arresting device 20 in this case at a given torsion angle, the roller 34 enters the grooves 35 in the revote-i positions, with the clutch position fixed by the force of the spring 38.
    In addition, the arresting device 20 may have at least one pneumatic bolt, fixing both working links 17 and 18 in the working position (i.e., in the connection position), when screwing, driven to the unlocked position.
    权利要求:
    Claims (11)
    [1]
    1. A device for automatic coupling and uncoupling of a multi-axial manipulator tool carrier, in which the last link of the kinematic chain of the manipulator and the tool carrier have connecting elements that can be screwed, and the rotation drive of the last link of the kinematic chain is used as an energy source for screwing. with the last link of the kinematic chain, the connecting element consists of two concentrically arranged working links, the first of which is external, at sat izhenii connecting elements with the connecting member forms nosi0
    the tool bodies are a stopper, with connecting parts for supplying energy, coolant, etc., which are arranged oppositely, which are arranged in order to accelerate the processes of adhesion and uncoupling and to save energy,
    fitted with two make-up elements, installed coaxially, to form a screw connection, with one of these elements being connected to the second working link, the internal one, and
    5, another element with a connecting element of the tool carrier and both working members are provided with an arresting device intended to separate the working links by means of the action of the rotation stopper.
    [2]
    2. The device according to claim 1, characterized in that the rotation stopper is made of at least one centering bolt made
    5 on the same connecting element and entering into the corresponding recess extending on the opposite connecting element.
    [3]
    3. The device according to PP.1 and 2, about t - LY the fact that the second
    The working link is equipped with a main bolt with clamps attached to its ends and a spring that is pressed in the axial direction to the clamps to the mating elements of the first working link.
    [4]
    4. A device according to Clause 3, characterized in that the latches are made in the form of rollers mounted on the main bolt with the possibility of rotation, and the adjoining elements are made in the form of grooves radially located on the flange surface of the first, outer, working body.
    [5]
    5. The device according to paragraphs 3 and 4, characterized in that the main bolt is placed in the additionally inserted guide and is spring-loaded in the axial direction to the fastening element fixed to the second working link.
    [6]
    6. A device according to claims 1-5, characterized in that the make-up element has at least
    5 one threaded section with a large pitch with a slight torsion angle.
    [7]
    7. The device according to PP.1-6, which is based on the fact that on the element
    five
    0
    E
    0
    screwing-in of the tool carrier is made of a hub with threaded sections in which rollers are inserted that are rotatably mounted on the additionally inserted bolt. located on the second working link, and the threaded chunks passes into a surface located radially to the axis of rotation in which the deepening is performed for engaging with the roller of the additionally inserted bolt, the threaded portion included.
    [8]
    8. The device according to claims 1-7, 6 tons of l that the internal working link is complete in the form of a hollow shaft, through which the main and additional radially pass the main and auxiliary bolts, equipped with-COOT- clamps and rollers, the main bolt being mounted in the hollow shaft with the possibility of axial movement and having a spring located in the hollow shaft.
    [9]
    9 "Setup, property as per PT1.1-8, about tl and-., Due to the fact that the internal working link is an integral part of the safety cut-off installed on the output flange of the last link of the manipulator kinematic chain.
    [10]
    10. A device according to claims 1-9, characterized in that the hub of the tool carrier fastening element is mounted f1tx1fan from twisting and can be axially moved on the tool carrier flange and pressed against it by an additionally inserted spring.
    [11]
    11. A device according to pts.1-10, characterized in that the connecting element of the tool carrier and the outer working element of the other connecting element are provided with three abutment bolts directed towards each other in order to form the end position of the connecting element element.
    FIG. J
    J /
    fae 3
    e. View
    52.
    ™ 1E
    -L
    类似技术:
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    同族专利:
    公开号 | 公开日
    JPS61502321A|1986-10-16|
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    DE3421452C2|1986-05-22|
    DE3565374D1|1988-11-10|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3421452A|DE3421452C2|1984-06-08|1984-06-08|Device for the automatic gripping or releasing of a tool carrier in a manipulator|
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