• 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:
    An automatic tool-changing device for industrial robots includes a gripper member located at the end of the robot arm and a coupling flange to which a tool is fixed. The gripper member has radially-movable engagement teeth adapted for insertion in projecting appendages carried by the flange, upon automatic clamping of the tool. The movement of the engagement teeth is driven by a pressurized-fluid jack housed in the gripper member.
    公开号:SU1572404A3
    申请号:SU874202918
    申请日:1987-07-15
    公开日:1990-06-15
    发明作者:Маринони Джорджио；Араудо Пьетро
    申请人:Комау С.П.А. (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering, in particular to the automatic change of tools of industrial robots.
    The purpose of the invention is to increase the reliability of tool changes.
    1 shows a perspective view of the end of the arm of an industrial robot carrying a tool; FIG. 2 is a perspective view of a tool changer with partial development of parts; on fig.Z - section aa in figure 1; figure 4 - section bB in fig.Z (when coupled configuration of the tool changer); figure 5 is a section bb In figure 2; in fig. 6 is a section of GGD in FIG. 2 with the device configuration coupled.
    The automatic tool changer of movable arm 1 of an industrial robot has at its end 2 safety flange 3 of a known type, equipped with emergency microswitches (not shown), which automatically stop the robot when the tool load exceeds a certain set value. The cylindrical holder of the tool changer, designated A, is fixed on the safety flange 3 with screws 4 and pins 5 and has an end surface 6 and a circular cylindrical lateral surface 7.
    Connectors 8 of element A for connection to the working lines T of the working medium
    and
    s
    placed on the side surface 7 of the holder A. The connectors 8 are connected via channels 9 (FIG. 6) made inside the holder A with quick-acting connectors 10 (unions) located on the annular part of the end surface 11. Two connectors 12 (unions) for connection to Compressed air lines C are also located on the side surface 7 of the holder.
    Two connectors 12 of the fitting (FIG. 3) communicate with an annular cylindrical cavity 13 inside the holder A, which is divided into two parts 14 and 15 by a piston 16 having a tubular rod 17 that can slide along the cylindrical central guide shaft 18, the piston 17 of the piston 16 It has three profiled transverse grooves 19, arranged at an angle of 120 ° relative to each other.
    Three double-arm levers 20 articulated in the form of an axis rotate inside holder A, and their axis of rotation is perpendicular to the longitudinal axis of the cylindrical retaining element, which is denoted X-X in the drawings. Each double-arm lever 20 has a first profiled end 21 placed in a corresponding groove 19 of the rod 17, and a second profiled end 22 inserted into a corresponding slot made in the movable connecting means of the tooth 23. Teeth. 23, the movable connecting means are located relative to each other at an angle of 120 °, can slide in the radial guides 24 inside the holder A and have an end portion 2b (figure 2) located radially.
    The piston 16 and the levers 20 associated with it form an actuator designed to press flange B against holder A and release it.
    The side surface 7 of the holder And has a corresponding 23 axial groove 26 for each tooth.
    The holder A can be coupled with the flange B, to which the tool shown in FIG. 1, is fastened in the form of a resistance welding gun 27. The coupling flange B has an end surface 28, a mounting surface 29 for mounting the gun 27, and also a cylindrical side surface
    five
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    30 with three gripping elements 31, made in the form of hooks, placed at an angle of 120 relative to each other, forming a grip and projecting parallel to the longitudinal axis above the end surface 28. Each gripping element 21 - the hook has a transverse groove 32.
    The quick connectors 33 are placed on the end surface 28 of the flange B and communicate via channels with the corresponding connectors 34 placed on the side surface 30 of the flange B. The quick connectors 10 of the retaining element A and the quick connectors 33 of the flange B adjoining them have automatic valves (obturators) 35 and 36 associated with coil springs arranged to provide communication between the detachable in the engaged state of these dimensions (Fig. 6).
    To simplify the implementation of proper coupling and to ensure the transfer of a large load between the holder A and the flange B, there are three pins 37 placed on the end surface 6 of the holder A at an angle 120 to one another, and these pins are matched with slots 38 flange B (figure 3).
    Below is a description of the electrical connections between the holder A and the flange B.
    The holder A has on its side surface 7 a multiple connector 39 (FIGS. 2 and 3) for electrical cables for transmitting control and command signals to the tool 27. Some of these electrical cables are connected to a pin 40 located on the end surface 6 of the holder A and mates with nest 41, made on the end surface
    28 flanges B. The socket 41 is connected in turn with a pin 42 located on the mounting surface
    29 flange B on which the tool 27 is mounted. Pin 42 is a multi-pin connector and is electrically connected to the sensor.
    Multi-connector 39 is electrically connected to end sensors 43 and 44, respectively, connected to piston rod 17 of piston 16, as well as
    with clamp sensor 45 placed on the end surface of 6 holder A.
    The first and second pair of copper bus bars are provided for the electric connection between holder A and flange B. Each electrically conductive bus 46 of the first pair R has a flat electrocontact part 47 in the central part of the end surface 6 of holder A, and also an electrocontact part 48 at its other end, equipped with a plug 49 for an electrical cable 50 connected to a power supply. Similarly, each bus 51 of the second pair S connected to flange B has a flat electrical contact end part 52 and an electrical contact part 53 equipped with a connector 54 for connecting the power cable 55 to one of the electrodes of the welding gun 27.
    On the flat end portions 52 of the tire 51, there are contact surfaces coated with a silver layer to increase the efficiency of electrical contact.
    While the tires 51 of the second pair are rigidly fixed to the flange B with the fastening screws 56, the tires 46 of the first pair R are capable of making small installation movements, and the plate springs 57 ,. nested between the tires 46 and the holder A, provide a predetermined contact force (tension g) with the respective parts 47 and 52 of the tires 46 and 51 and more powerful power for the welding gun 27.
    A pressure plate 58 and profiled elements 59 are inserted between the cup springs 57 and the tires 46, respectively, so that these tires can make small installation rotations. In the disconnected state, the tires 46 abut against the screws 60, screwed into the holder A.
    The device works as follows.
    During the tool replacement phase, the robot arm 1 is positioned according to the position of the tool 27. After reaching the predetermined position, compressed air is supplied to the connector 12 (nozzle), which communicates with the part 15 of the cylindrical cavity 13 connected to the piston 16. Thus, the piston
    ten
    15
    5724046
    16 is moved in hand 1, causing the levers 20 to rotate. This rotation causes a radial translational movement of the movable teeth 23, which in this case emerge from the transverse grooves 32 of the elements 31, causing the flange B to detach from the holder A under the action of gravity. This disconnection involves the automatic closing of the valves 35 and 36 of the quick-acting connectors 10 and 33, as well as the opening of the electric contacts of the buses 46 and 51 and the breaking of the electrical connections 40 and 41 of the command and control signals for the tool 27.
    To ensure that the channels for the working environment in the tool are cleaned, a stream of compressed air is supplied to the connectors 10 (fittings) to empty the channels before actuation of the rod 17.
    The command allowing the robot arm 1 to move after the tool 25 has been released 27 provides the end switch 43, which controls the correctness of the stroke of the piston 16 and the complete exit of the teeth 23 from the engagement.
    Then, arm 1 without a tool is positioned above another tool placed in the floor structure. The holder A approaches the flange B so that the gripping elements 31 of the flange B fit into the suitable grooves 26 of the element A. A command to stop this movement, which is carried out using pins 37, delivers an end sensor 45 which is fixed elastically so as to increase hitch accuracy.
    During the phase, the automatic connectors 10 and 39 form channels designed for working media, liquids, gas, compressed air, vacuum, etc. communicating with robot lines T. The compressed air is then supplied to the cavity 13 to move the teeth 23 under the action of the levers 20. The end sensor 44 is determined when the piston 16 reaches its correct end of the stroke and ensures that the flange B is caught and pressed against the holder A. When away from the sensor 44 the resolving signals will come; the arm 1 of the robot will be able to start its working cycle with the new tool 27. The entire replacement phase of the tool, like the other working phases, is performed 30
    35
    40
    45
    50
    55
    automatically thanks to the work program of the robot stored in the control system of the robot itself.
    权利要求:
    Claims (13)
    [1]
    1. An automatic tool changer for an industrial robot equipped with a mechanical arm carrying a tool containing a cylindrical holder fixed to this hand, a flange whose shape conforms to the holder's shape, a movable connecting means associated with the holder and gripping means associated with the flange ,
    It is distinguished by the fact that, in order to increase the reliability of the tool change, it contains an actuator mounted on the holder and connected to the connecting means, in order to press the flange against the holder and release it.
    [2]
    2. A device according to claim 1, characterized in that the connecting means comprise movable teeth arranged with the possibility of radial movement relative to the holder.
    [3]
    3. The device according to paragraphs. 1 and 2, in that the gripping means has gripping hook-shaped elements connected to the flange, protruding from its end surface and having surfaces connected to the surfaces of the movable teeth.
    [4]
    4. The device according to claims 1 and 2, t - characterized by the fact that the actuator, designed to press the flange to the holder and release it, contains a double action piston located in the cylindrical cavity formed inside the holder, as well as two shoulders, the axis rotation of each of which is fixed on the holder, one shoulder connected to the piston rod of double action, and the second - with the corresponding movable tooth of the connecting means.
    [5]
    5. The device according to claims 1–3, T is characterized by the fact that on the lateral cylindrical surface of the holder longitudinal grooves are fitted with hooks of the gripping means, and through the surface of the grooves are made through radial grooves under the movable teeth.
    [6]
    6. The device according to claims 1-5, characterized in that the holder and the flange are provided with elements forming quick-acting connectors and channels for supplying the working medium, and
    automatic valves designed to provide current to the working medium when the flange is connected to the holder.
    [7]
    7. The device according to PP. 1 and 4, pt5, in that it is equipped with two sensors for the end positions of the actuator piston.
    [8]
     8. The device according to claims 1-7, characterized in that it is provided with a sensor located at the end of the holder,
    5 recognizing the correct connection of the holder with the flange.
    [9]
    9. The device according to claims 1-8, which is based on the fact that, in order to expand technological capabilities by performing welding operations using a welding gun, it is equipped with two pairs of electrically conductive tires arranged in pairs, respectively, on the holder and on the flange and connected respectively with the power supply source and the welding gun.
    [10]
    10. A device as claimed in Claims 1 and 9, in that it has an elastic means for pressing the electrically conducting tires of one pair to the respective electrically conducting tires of the other pair to create a predetermined force between the surfaces of the tires when the holder and the flange are connected between by myself.
    [11]
    1J. A device according to claims 1, 9 and 10, characterized in that the tires are mutually parallel and their ends are located on the axis of the flanges and the holder respectively, while the others protrude radially, and the projecting part of the tire has its own electrical connector.
    [12]
    12. The device according to claims 9-11, is that the tires associated with the holder have the possibility of installation movements.
    0
    0
    five
    0
    five
    91572404I0
    [13]
    13. The device according to PP.9-12, about t-rn electric contact polishing the fact that the tires, surfaces.
    tied to the holder have silver
    T
    Phie.1
    29
    & Ј
    gz
    Oi h to-r
    ABOUT
    I,
    4 Сл, ЬЗ
    28
    45
    FIG. five
    y-y
    FIG. 6
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1572404A3|1990-06-15|Device for automatic change of industrial robot tool
    CA1235717A|1988-04-26|Automatic tool changing mechanism for industrialrobots
    US4604787A|1986-08-12|Tool changer for manipulator arm
    EP0154227B1|1989-11-02|Exchange system and method for connecting, and/or exchanging remote elements to a central control source
    US4664588A|1987-05-12|Apparatus and method for connecting and exchanging remote manipulable elements to a central control source
    JP3236893B2|2001-12-10|Welding robot tool change system
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    US4993139A|1991-02-19|System for exchanging tools and end effectors on a robot
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    SU543513A1|1977-01-25|Docking device
    SU1473943A1|1989-04-23|Gripping device
    US20210008991A1|2021-01-14|Automated Connection of a Charging Plug to a Charging Interface of a Vehicle
    KR900003639B1|1990-05-28|Automatic hand exchange equipment of manipulator
    CN211615675U|2020-10-02|Quick switching device for robot tail end tool
    EP0121909A1|1984-10-17|Industrial robot spot welding arrangement using single welding electrode
    CN112548989A|2021-03-26|Operating device
    US20200365297A1|2020-11-19|Device and method for the automatic assembly of a pair of wires
    同族专利:
    公开号 | 公开日
    CH670595A5|1989-06-30|
    GB2192608B|1989-12-13|
    NL192508C|1997-09-02|
    ATA152887A|1988-08-15|
    DE3717765C2|1997-05-28|
    JPH0794074B2|1995-10-11|
    JPS6330183A|1988-02-08|
    SE8702666D0|1987-06-26|
    GB2192608A|1988-01-20|
    FR2601614B1|1992-04-10|
    AT387743B|1989-03-10|
    US4763401A|1988-08-16|
    GB8711867D0|1987-06-24|
    FR2601614A1|1988-01-22|
    IT8667574D0|1986-07-16|
    NL8701411A|1988-02-16|
    IT1193450B|1988-06-22|
    SE8702666L|1988-01-17|
    DE3717765A1|1988-01-21|
    SE468418B|1993-01-18|
    BE1000093A7|1988-02-23|
    NL192508B|1997-05-01|
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    US4512709A|1983-07-25|1985-04-23|Cincinnati Milacron Inc.|Robot toolchanger system|
    DE3328291C2|1983-08-05|1986-10-02|Günter Horst 7927 Sontheim Röhm|Clamping device on workpiece or tool spindles of lathes for power-operated workpiece holders, especially chucks|
    DE3347423C2|1983-12-29|1990-05-17|Rudi 4018 Langenfeld De Kirst|
    EP0150232A1|1984-01-26|1985-08-07|Wilhelm Karmann GmbH|Process for running an industrial robot, and industrial robot used in this process|
    IT1179967B|1984-02-13|1987-09-23|Bisiach & Carru|MECHANISM FOR THE AUTOMATIC CHANGE OF TOOLS ON INDUSTRIAL ROBOTS|
    US4664588B1|1984-03-09|1989-09-26|
    DE3573995D1|1984-03-09|1989-12-07|Applied Robotics Inc|Exchange system and method for connecting, and/or exchanging remote elements to a central control source|
    DE3421452C2|1984-06-08|1986-05-22|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Device for the automatic gripping or releasing of a tool carrier in a manipulator|
    DE8423316U1|1984-08-04|1986-01-02|Robert Bosch Gmbh, 7000 Stuttgart|Gripping device|
    JPH0379111B2|1984-08-10|1991-12-17|Nissan Motor|
    US4604787A|1984-08-15|1986-08-12|Transamerica Delaval Inc.|Tool changer for manipulator arm|
    DE3513648A1|1985-04-16|1986-10-23|Rudi 4018 Langenfeld Kirst|Gripping device for workpieces or other parts to be manipulated|JPH02121778A|1988-10-24|1990-05-09|Applied Robotics Inc|Automatic tool exchanging device|
    JPH0575514B2|1988-10-24|1993-10-20|Apuraido Roboteitsukusu Inc|
    JPH0575513B2|1988-10-24|1993-10-20|Apuraido Roboteitsukusu Inc|
    DE3911461A1|1989-04-05|1990-10-11|Wilhelm Dinse|DEVICE FOR FASTENING AND CHANGING TOOLS|
    JPH0748384Y2|1990-07-11|1995-11-08|株式会社安川電機|Robot tool changer|
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    US6491612B1|2000-10-23|2002-12-10|Ati Industrial Automation, Inc.|Stud welding tool changer|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    IT67574/86A|IT1193450B|1986-07-16|1986-07-16|DEVICE FOR THE AUTOMATIC CHANGE OF INDUSTRIAL ROBOT TOOLS|
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