DE112018000030T8 - Verriegelungsmechanismus mit verformbarem Stift für Roboter-Werkzeugwechsler - Google Patents

Verriegelungsmechanismus mit verformbarem Stift für Roboter-Werkzeugwechsler Download PDF

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Publication number
DE112018000030T8
DE112018000030T8 DE112018000030.3T DE112018000030T DE112018000030T8 DE 112018000030 T8 DE112018000030 T8 DE 112018000030T8 DE 112018000030 T DE112018000030 T DE 112018000030T DE 112018000030 T8 DE112018000030 T8 DE 112018000030T8
Authority
DE
Germany
Prior art keywords
locking mechanism
tool changer
robot tool
deformable pin
deformable
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 - Fee Related
Application number
DE112018000030.3T
Other languages
English (en)
Other versions
DE112018000030T5 (de
Inventor
David John Bohle II
Michael Joseph Gala
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.)
ATI Industrial Automation Inc
Original Assignee
ATI Industrial Automation Inc
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 ATI Industrial Automation Inc filed Critical ATI Industrial Automation Inc
Publication of DE112018000030T5 publication Critical patent/DE112018000030T5/de
Application granted granted Critical
Publication of DE112018000030T8 publication Critical patent/DE112018000030T8/de
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/02—Screens or other safety members moving in synchronism with members which move to and fro
    • 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
    • B25J15/0466—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with means for checking exchange completion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
    • B23B31/1071—Retention by balls
    • 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
    • B25J15/0408—Connections means
    • 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
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
DE112018000030.3T 2017-06-20 2018-05-15 Verriegelungsmechanismus mit verformbarem Stift für Roboter-Werkzeugwechsler Expired - Fee Related DE112018000030T8 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/628,230 US10047908B1 (en) 2017-06-20 2017-06-20 Deformable pin locking mechanism for robotic tool changer
US15/628,230 2017-06-20
PCT/US2018/032644 WO2018236488A1 (en) 2017-06-20 2018-05-15 DEFORMABLE PIN LOCK MECHANISM FOR A ROBOTIC TOOL CHANGER

Publications (2)

Publication Number Publication Date
DE112018000030T5 DE112018000030T5 (de) 2019-02-28
DE112018000030T8 true DE112018000030T8 (de) 2019-03-21

Family

ID=62387015

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112018000030.3T Expired - Fee Related DE112018000030T8 (de) 2017-06-20 2018-05-15 Verriegelungsmechanismus mit verformbarem Stift für Roboter-Werkzeugwechsler

Country Status (3)

Country Link
US (1) US10047908B1 (de)
DE (1) DE112018000030T8 (de)
WO (1) WO2018236488A1 (de)

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CN107249496B (zh) 2015-02-20 2021-11-09 史赛克公司 无菌屏障组件、用于联接手术部件的安装系统和方法
WO2017062583A1 (en) * 2015-10-06 2017-04-13 Oceaneering International, Inc. Manipulator end effector
WO2017193204A1 (en) 2016-05-12 2017-11-16 Dreco Energy Services Ulc System and method for offline standbuilding
US11185426B2 (en) * 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
EP3723950B1 (de) * 2017-12-14 2024-01-03 Onrobot A/S Greifvorrichtung
US20190255713A1 (en) * 2018-02-22 2019-08-22 Delkor Systems, Inc. Robotic End-of-Arm Manual Tool Changer
US11613940B2 (en) 2018-08-03 2023-03-28 National Oilwell Varco, L.P. Devices, systems, and methods for robotic pipe handling
CN113316431A (zh) 2018-12-04 2021-08-27 马科外科公司 用于联接外科部件的具有无菌屏障组件的安装系统
WO2020151386A1 (en) 2019-01-25 2020-07-30 National Oilwell Varco, L.P. Pipe handling arm
CN110696032A (zh) * 2019-10-11 2020-01-17 河海大学常州校区 柔性抓取器拆装组件及柔性抓取器
US11834914B2 (en) 2020-02-10 2023-12-05 National Oilwell Varco, L.P. Quick coupling drill pipe connector
US11274508B2 (en) 2020-03-31 2022-03-15 National Oilwell Varco, L.P. Robotic pipe handling from outside a setback area
US11644057B2 (en) 2020-04-20 2023-05-09 Northrop Grumman Systems Corporation Reusable release mechanism
EP4146422A4 (de) * 2020-05-03 2024-03-06 Nat Oilwell Varco Lp Passive drehtrennung
US11850733B2 (en) 2020-06-11 2023-12-26 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay
US11440203B2 (en) 2020-09-04 2022-09-13 Toyota Research Institute, Inc. Robotic tool changers and methods of use
US11691294B2 (en) * 2020-09-22 2023-07-04 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional stiffness
CN112677164B (zh) * 2020-12-31 2021-07-06 升励五金（深圳）有限公司 一种自动更换机械手的装置及方法
US11365592B1 (en) 2021-02-02 2022-06-21 National Oilwell Varco, L.P. Robot end-effector orientation constraint for pipe tailing path
JP2022167131A (ja) * 2021-04-22 2022-11-04 Smc株式会社 エンドエフェクタ交換装置
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
US11839440B2 (en) * 2021-07-30 2023-12-12 Corindus, Inc. Attachment for robotic medical system
JP2023027544A (ja) * 2021-08-17 2023-03-02 株式会社コガネイ ツール交換装置
CN114110345A (zh) * 2021-11-30 2022-03-01 深圳市中图仪器股份有限公司 用于空间坐标测量机的快速装夹装置
US11963733B2 (en) 2021-12-01 2024-04-23 Nuvasive Inc. Connector assemblies for connecting a robotic arm with a medical end effector

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4231581A (en) * 1978-10-10 1980-11-04 Ajax Tool Works, Inc. Pneumatic hammer with twist retainer
US4696524A (en) * 1986-03-03 1987-09-29 Custom Tool & Mfg. Co. Robot arm coupling apparatus
DE10041844C2 (de) * 2000-08-25 2002-10-31 System 3R Internat Ab Vaelling Mechanisch betätigbares Spannfutter
DE10154876C1 (de) * 2001-11-06 2003-02-13 Schunk Gmbh & Co Kg Werkzeugwechselsystem
US8209840B2 (en) * 2006-04-04 2012-07-03 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer
US8500132B2 (en) * 2006-04-04 2013-08-06 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with one-way clutch and dual-button handle mechanism
US8601667B2 (en) * 2006-04-04 2013-12-10 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with actuation mechanism

Also Published As

Publication number Publication date
WO2018236488A1 (en) 2018-12-27
DE112018000030T5 (de) 2019-02-28
US10047908B1 (en) 2018-08-14

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Date Code Title Description
R012 Request for examination validly filed
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee