CA1225680A - Manipulator gripper tool changing apparatus - Google Patents

Manipulator gripper tool changing apparatus

Info

Publication number
CA1225680A
CA1225680A CA000473183A CA473183A CA1225680A CA 1225680 A CA1225680 A CA 1225680A CA 000473183 A CA000473183 A CA 000473183A CA 473183 A CA473183 A CA 473183A CA 1225680 A CA1225680 A CA 1225680A
Authority
CA
Canada
Prior art keywords
gripper
tool
gripper finger
finger
tools
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA000473183A
Other languages
English (en)
French (fr)
Inventor
Jane A. Gregory
Henry E. Aviles
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Application granted granted Critical
Publication of CA1225680A publication Critical patent/CA1225680A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/902—Tool grippers

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
CA000473183A 1984-03-16 1985-01-30 Manipulator gripper tool changing apparatus Expired CA1225680A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/565,444 US4601637A (en) 1984-03-16 1984-03-16 Manipulator gripper tool changing apparatus
US565,444 1984-03-16

Publications (1)

Publication Number Publication Date
CA1225680A true CA1225680A (en) 1987-08-18

Family

ID=24258627

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000473183A Expired CA1225680A (en) 1984-03-16 1985-01-30 Manipulator gripper tool changing apparatus

Country Status (5)

Country Link
US (1) US4601637A (enExample)
EP (1) EP0155362B1 (enExample)
JP (1) JPS60201849A (enExample)
CA (1) CA1225680A (enExample)
DE (1) DE3469419D1 (enExample)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT389266B (de) * 1983-06-28 1989-11-10 Sticht Walter Einrichtung zur handhabung von bauteilen
DE3513453A1 (de) * 1985-04-15 1986-10-16 Traub Gmbh, 7313 Reichenbach Greifvorrichtung mit auswechselbarer greiferbacke
US4660274A (en) * 1985-11-29 1987-04-28 Goumas Peter G Robot tool changing apparatus
GB8625351D0 (en) * 1986-10-23 1986-11-26 Emi Plc Thorn Linear drive mechanism
IT1211602B (it) * 1987-12-15 1989-11-03 Prima Ind Spa Dispositivo manipolatore robotizzato particolarmente per lamiere avente organi di presa automatica mente intercambiabili
US4852242A (en) * 1988-03-24 1989-08-01 Hewlett-Packard Company Tool coupling apparatus and method
US4996753A (en) * 1988-09-30 1991-03-05 The Boeing Company Robot end effector exchange system
US5360249A (en) * 1991-09-13 1994-11-01 Refac Technology Development, Corporation Multifunctional end effectors
JPH06289178A (ja) * 1993-03-31 1994-10-18 Toshiba Corp 液体金属冷却型原子炉
US20070152654A1 (en) * 2001-05-14 2007-07-05 Herbert Tsai Integrated circuit (IC) transporting device for IC probe apparatus
JP4468195B2 (ja) * 2005-01-31 2010-05-26 富士通株式会社 加工装置向け識別ユニットおよび加工装置並びに加圧装置
US20070035058A1 (en) * 2005-07-06 2007-02-15 Ogle Steven E Method for relofting a nonwoven fiber batt
JP4534961B2 (ja) * 2005-11-16 2010-09-01 澁谷工業株式会社 物品グリッパ
DE102008029711A1 (de) * 2008-06-24 2010-01-07 Krones Ag Wechselbares Greifelement zum Transportieren von Behältnissen
JP5369638B2 (ja) * 2008-11-21 2013-12-18 株式会社Ｉｈｉ ロボット装置
DE102009043984A1 (de) * 2009-09-11 2011-03-17 Krones Ag Greifeinheit zum Haltern und Bewegen von Artikeln
US8851541B2 (en) * 2010-10-26 2014-10-07 Stratom, Inc. Modular robotic accessory system
KR101956524B1 (ko) * 2013-04-29 2019-06-24 버사빌트, 인크 로봇 텐딩을 사용한 다양한 부품 형상 저장과 처리를 위한 시스템 및 방법
US9401300B1 (en) * 2014-12-18 2016-07-26 WD Media, LLC Media substrate gripper including a plurality of snap-fit fingers
JP6704136B2 (ja) 2015-09-07 2020-06-03 パナソニックＩｐマネジメント株式会社 部品実装装置および部品実装方法
DE102016004087A1 (de) * 2016-02-15 2017-08-17 Kastanienbaum GmbH Effektoreinheit für einen Roboter, Arbeitsvorrichtung mit einem Roboter und Verfahren zum Wechseln eines Effektors bei Robotern
USD841068S1 (en) * 2016-05-03 2019-02-19 Robotis Co. Ltd. Actuator for robots
US10286565B1 (en) * 2016-06-13 2019-05-14 Amazon Technologies, Inc. Skin replacement for robotic manipulator
CN107498358A (zh) * 2017-10-27 2017-12-22 珠海艾诚精密模具有限公司 一种cnc自动拆装刀设备
US10759063B1 (en) * 2017-12-15 2020-09-01 X Development Llc Reusable mechanically fused dovetail retainer mechanisms
MX2021002330A (es) * 2018-08-28 2021-08-11 Ontario Die Int Inc Sistemas, aparatos y métodos para formar tiras metalicas en moldes.
BR112022013908A2 (pt) * 2020-02-20 2022-09-13 Norgren Automation Solutions Llc Dispositivo, método para operar um dispositivo para segurar uma peça de trabalho, e, dedo de um dispositivo para segurar uma peça de trabalho
USD949217S1 (en) * 2020-03-06 2022-04-19 Grey Orange Pte. Ltd. Induction station module
TWI707753B (zh) * 2020-05-07 2020-10-21 鈦昇科技股份有限公司 自動化手臂更換機構
IT202200010523A1 (it) 2022-05-20 2023-11-20 Seta Srl Sistema robotico mobile con cambio automatico degli organi di presa per magazzini di logistica
CN119604393A (zh) * 2022-08-03 2025-03-11 喜利得股份公司 具有转换接口的施工机器人、零件系统和用于将零件系统布置到转换接口上的方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3075165A (en) * 1961-09-19 1963-01-22 James A Donlevy Canister unit with latching means
FR1328613A (fr) * 1962-06-13 1963-05-31 Pye Ltd Appareil de manipulation à distance
US3565417A (en) * 1967-08-22 1971-02-23 Georg Kesel Kg Werkzeugmaschin Holddown jaw for vises
US4046263A (en) * 1976-07-29 1977-09-06 General Motors Corporation Tool changing apparatus for a multi-axis manipulator
US4227853A (en) * 1979-02-06 1980-10-14 Spar Aerospace Limited Manipulator wrist tool interface
US4448405A (en) * 1981-07-06 1984-05-15 General Electric Company Versatile gripping device
US4488241A (en) * 1981-12-08 1984-12-11 Zymark Corporation Robot system with interchangeable hands
FR2540027A1 (fr) * 1983-01-28 1984-08-03 Andre Garnier Dispositif de deconnexion d'un doigt de telemanipulateur
DE8305209U1 (de) * 1983-02-24 1988-07-28 Kirst, Rudi, 4018 Langenfeld Greifvorrichtung mit Greiferbacke
US4543032A (en) * 1983-03-02 1985-09-24 International Business Machines Corporation Robot manipulator with automatically changeable finger tools

Also Published As

Publication number Publication date
EP0155362A1 (en) 1985-09-25
JPH0253199B2 (enExample) 1990-11-15
DE3469419D1 (en) 1988-03-31
US4601637A (en) 1986-07-22
JPS60201849A (ja) 1985-10-12
EP0155362B1 (en) 1988-02-24

Similar Documents

Publication Publication Date Title
CA1225680A (en) Manipulator gripper tool changing apparatus
EP1673195B1 (en) Laser processing installation with integrated loading/unloading of workpieces and laser motion cutting unit mounted on a same rail track
EP0277423B1 (en) Programmable fixture and assembly cell
US7422411B2 (en) Gripping mechanisms, apparatus and methods
US4543032A (en) Robot manipulator with automatically changeable finger tools
US5653005A (en) Programmable fixture and assembly cell
US4815781A (en) Industrial robot hand
EP0334563A2 (en) Tool coupling apparatus and method
KR20170141139A (ko) 공작 기계에서 사용하기 위한 핸들링 장치
CN113816125B (zh) 一种用于集装箱旋锁自动拆装的系统
CN114985883B (zh) 一种垫板全自动焊接生产线
KR102530303B1 (ko) 5축 로봇아암을 이용한 cnc선반 가공시스템
US20050072768A1 (en) Laser processing installation with readily accessible cutting unit
CN116809838A (zh) 车架横梁铆接系统及铆接方法
KR102530302B1 (ko) Cnc선반용 소재 적재장치
CN117340096A (zh) 一种新型热成形智能产线系统
EP0062071B1 (en) Through double hand
CN117020687A (zh) 装载装置、机床和用于装载或卸载工具的方法
TW202324016A (zh) 無人移載台車之定位裝置及定位方法
JPS62181892A (ja) 把持ハンド
CN214814528U (zh) 自动安放装置
US20240207990A1 (en) Rack magazine with setup unit
CN114890121B (zh) 物料输送自动控制系统与方法
CA1261899A (en) Manipulator gripper tool
JP3285372B2 (ja) 移載装置

Legal Events

Date Code Title Description
MKEX Expiry