DE20018124U1 - Tool changing system and coupling system - Google Patents

Tool changing system and coupling system

Info

Publication number
DE20018124U1
DE20018124U1 DE20018124U DE20018124U DE20018124U1 DE 20018124 U1 DE20018124 U1 DE 20018124U1 DE 20018124 U DE20018124 U DE 20018124U DE 20018124 U DE20018124 U DE 20018124U DE 20018124 U1 DE20018124 U1 DE 20018124U1
Authority
DE
Germany
Prior art keywords
coupling
magnetic element
magnetic
halves
media
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 - Lifetime
Application number
DE20018124U
Other languages
German (de)
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.)
STAEUBLI VERTRIEBS GmbH
Original Assignee
STAEUBLI VERTRIEBS GmbH
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 STAEUBLI VERTRIEBS GmbH filed Critical STAEUBLI VERTRIEBS GmbH
Priority to DE20018124U priority Critical patent/DE20018124U1/en
Publication of DE20018124U1 publication Critical patent/DE20018124U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (13)

1. Werkzeugwechselsystem (2) für Kupplungsverbindungen eines Roboters (1) mit ei­ nem Werkzeug (14), mit wenigstens zwei Kupplungshälften (7, 8), die über eine Trennebene (12) lösbar miteinander verbindbar sind, und von denen eine Kupp­ lungshälfte (7) mit dem bewegbaren Roboter (1) und die andere Kupplungshälfte (8) mit dem Werkzeug (14) verbunden ist, dadurch gekennzeichnet, dass ein die Kupplungshälften (7, 8) lösbar miteinander verbindbarer Magnetmecha­ nismus (11) vorgesehen ist.1. Tool changing system ( 2 ) for coupling connections of a robot ( 1 ) with a tool ( 14 ), with at least two coupling halves ( 7 , 8 ) which can be detachably connected to one another via a parting plane ( 12 ), and of which a coupling half ( 7 ) with the movable robot ( 1 ) and the other coupling half ( 8 ) with the tool ( 14 ), characterized in that the coupling halves ( 7 , 8 ) releasably connectable magnet mechanism ( 11 ) is provided. 2. Kupplungssystem (2) für Wechselverbindungen eines Manipulators (1) mit einem Werkzeug (14) oder für Medienkupplungen (2), mit wenigstens zwei Kupplungshälf­ ten (7, 8), die über eine Trennebene (12) lösbar miteinander verbindbar sind, wobei jede Kupplungshälfte (7, 8) mindestens einen Medienanschluss (20, 21) aufweist, welche durch die Trennebene (12) hindurchführend miteinander verbindbar sind, dadurch gekennzeichnet, dass ein die Kupplungshälften (7, 8) lösbar miteinander verbindender Magnetme­ chanismus (11) vorgesehen ist.2. Coupling system ( 2 ) for interchangeable connections of a manipulator ( 1 ) with a tool ( 14 ) or for media couplings ( 2 ), with at least two coupling halves ( 7 , 8 ), which can be detachably connected to one another via a parting plane ( 12 ), wherein each coupling half ( 7 , 8 ) has at least one media connection ( 20 , 21 ) which can be connected to one another through the parting plane ( 12 ), characterized in that a magnetic mechanism ( 11 ) is provided which detachably connects the coupling halves ( 7 , 8 ) is. 3. System nach Anspruch 2, dadurch gekennzeichnet, dass der Magnetmechanismus (11) die Zusammenfügekräfte der Medienanschlüsse (20, 21) beim Ankuppeln und/oder die Betriebskräfte bei zusammengekuppelten Kupplungshälften (7, 8) abstützt.3. System according to claim 2, characterized in that the magnetic mechanism ( 11 ) supports the joining forces of the media connections ( 20 , 21 ) during coupling and / or the operating forces when coupling coupling halves ( 7 , 8 ) are coupled together. 4. System nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass ein Medienanschluss (20, 21) innerhalb eines Magnetelements (11) angeordnet ist. 4. System according to claim 2 or 3, characterized in that a media connection ( 20 , 21 ) is arranged within a magnetic element ( 11 ). 5. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass mindestens ein Magnetelement (11) in wenigstens einer Kupplungshälfte (7, 8) angeordnet ist.5. System according to any one of the preceding claims, characterized in that at least one magnetic element ( 11 ) is arranged in at least one coupling half ( 7 , 8 ). 6. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass mindestens ein Magnetelement (11) in der Manipulatorhälfte (7) der Kupplung angeordnet ist.6. System according to any one of the preceding claims, characterized in that at least one magnetic element ( 11 ) in the manipulator half ( 7 ) of the clutch is arranged. 7. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Magnetmechanismus (11) wenigstens einen Permanentmagnet (18) auf­ weist.7. System according to any one of the preceding claims, characterized in that the magnetic mechanism ( 11 ) has at least one permanent magnet ( 18 ). 8. System nach Anspruch 7, dadurch gekennzeichnet, dass der Permanentmagnet mit einem schaltbaren Elektromagnet (19) wirkverbun­ den ist.8. System according to claim 7, characterized in that the permanent magnet with a switchable electromagnet ( 19 ) is the aktivverbun. 9. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Magnetelement (11) zentral in einer Kupplungshälfte (7) angeordnet ist.9. System according to any one of the preceding claims, characterized in that a magnetic element ( 11 ) is arranged centrally in a coupling half ( 7 ). 10. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein die Kupplungshälften (7, 8) gegeneinander ausrichtendes Führungsele­ ment (10) innerhalb eines Magnetelements (11) angeordnet ist.10. System according to any one of the preceding claims, characterized in that one of the coupling halves ( 7 , 8 ) against each other aligning guide element ( 10 ) is arranged within a magnetic element ( 11 ). 11. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Magnetelement (11) die Trennebene (12) angrenzend vorgesehen ist und sich im angekuppelten Zustand in Anlagekontakt mit der anderen Kupplungshälfte befindet. 11. System according to any one of the preceding claims, characterized in that a magnetic element ( 11 ) is provided adjacent to the parting plane ( 12 ) and is in contact with the other coupling half in the coupled state. 12. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zusätzlich zu dem Magnetmechanismus (11) eine Sicherungsverriegelung der Kupplungshälften (7, 8) vorgesehen ist.12. System according to any one of the preceding claims, characterized in that in addition to the magnetic mechanism ( 11 ) a locking lock of the coupling halves ( 7 , 8 ) is provided. 13. System nach einem der vorhergehenden Systeme, dadurch gekennzeichnet, dass wenigstens eine Kupplungshälfte (7) einen Kupplungsträger (23) aufweist, an welchem der Magnetmechanismus (11) vorgesehen ist, und an dem Kupplungsträ­ ger (23) Medienanschlüsse (20, 21) modulartig anbringbar sind, welche im angekup­ pelten Zustand mit Medienanschlüssen (20, 21) der anderen Kupplungshälfte (8) verbunden sind.13. System according to one of the preceding systems, characterized in that at least one coupling half ( 7 ) has a coupling carrier ( 23 ), on which the magnetic mechanism ( 11 ) is provided, and on the coupling carrier ( 23 ) media connections ( 20 , 21 ) Modular can be attached, which are connected in the coupled state with media connections ( 20 , 21 ) of the other coupling half ( 8 ).
DE20018124U 2000-10-23 2000-10-23 Tool changing system and coupling system Expired - Lifetime DE20018124U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20018124U DE20018124U1 (en) 2000-10-23 2000-10-23 Tool changing system and coupling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20018124U DE20018124U1 (en) 2000-10-23 2000-10-23 Tool changing system and coupling system

Publications (1)

Publication Number Publication Date
DE20018124U1 true DE20018124U1 (en) 2002-03-07

Family

ID=7947976

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20018124U Expired - Lifetime DE20018124U1 (en) 2000-10-23 2000-10-23 Tool changing system and coupling system

Country Status (1)

Country Link
DE (1) DE20018124U1 (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10316125B3 (en) * 2003-04-04 2004-08-19 J. Schmalz Gmbh Surface gripper for workpiece handling, e.g. for use with robot arm, has suction plate attached to suction side of surface gripper housing via magnetic retention forces
DE102005052627A1 (en) * 2005-10-28 2007-05-03 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Gripping jaws e.g. base jaw or false jaw, has connecting devices comprises permanent magnet and electromagnets in such a manner that energized connecting device
WO2012062454A1 (en) 2010-11-12 2012-05-18 Stäubli Tec-Systems GmbH Multi-coupling
EP2708335A1 (en) * 2012-09-14 2014-03-19 Knapp AG High speed gripper swap system
DE102013111938B3 (en) * 2013-10-30 2014-11-27 Alexander Binzel Schweisstechnik Gmbh & Co. Kg Magnetic welding tool coupling, welding tool and welding device
EP3202541A3 (en) * 2016-02-08 2017-10-25 The Boeing Company Robotic end effector quick change mechanism with switchable magnetic coupler with moment support
CN107363863A (en) * 2017-08-11 2017-11-21 重庆微浪生物科技有限公司 Male and female head attachment means for the connection of Bioexperiment utensil
DE102017123297A1 (en) 2017-10-06 2018-08-30 Airbus Defence and Space GmbH Interchangeable tool and tool holder for a robot arm
EP3495705A1 (en) * 2017-12-07 2019-06-12 Primetals Technologies Austria GmbH Robot-compatible medium coupling
US10335958B2 (en) 2016-02-08 2019-07-02 The Boeing Company Robotic end effector quick change mechanism with switchable magnetic coupler
EP3524378A3 (en) * 2018-02-08 2019-09-11 Ersa GmbH Electric soldering device, in particular a soldering iron
CN111515992A (en) * 2020-05-07 2020-08-11 钛昇科技股份有限公司 Automatic change arm and change mechanism
DE102019203955A1 (en) * 2019-03-22 2020-09-24 Volkswagen Ag Device for automatic charging of an electric vehicle
CN113524151A (en) * 2021-09-15 2021-10-22 江苏润杨机器人有限公司 Turnover type adjustable manipulator based on intelligent robot and use method thereof
WO2023115207A1 (en) * 2021-12-20 2023-06-29 Macdonald, Dettwiler And Associates Inc. System, method, and device for dust tolerant robotic interface

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10316125B3 (en) * 2003-04-04 2004-08-19 J. Schmalz Gmbh Surface gripper for workpiece handling, e.g. for use with robot arm, has suction plate attached to suction side of surface gripper housing via magnetic retention forces
DE102005052627B4 (en) * 2005-10-28 2016-03-10 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Gripper jaw, gripping means and clamping or gripping device
DE102005052627A1 (en) * 2005-10-28 2007-05-03 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Gripping jaws e.g. base jaw or false jaw, has connecting devices comprises permanent magnet and electromagnets in such a manner that energized connecting device
EP1785238A2 (en) * 2005-10-28 2007-05-16 Schunk GmbH & Co. KG Spann- und Greiftechnik Releasable connection between a gripping jaw and a gripping element in a clamping or gripping assembly, comprising a permanent magnet and an electromagnet
EP1785238A3 (en) * 2005-10-28 2007-05-30 Schunk GmbH & Co. KG Spann- und Greiftechnik Releasable connection between a gripping jaw and a gripping element in a clamping or gripping assembly, comprising a permanent magnet and an electromagnet
WO2012062454A1 (en) 2010-11-12 2012-05-18 Stäubli Tec-Systems GmbH Multi-coupling
EP2457799A1 (en) 2010-11-12 2012-05-30 Stäubli Tec-Systems GmbH Multicoupling
RU2587127C2 (en) * 2010-11-12 2016-06-10 Штойбли Тек-Системс Гмбх Coupling system
EP2708335A1 (en) * 2012-09-14 2014-03-19 Knapp AG High speed gripper swap system
WO2014040843A1 (en) * 2012-09-14 2014-03-20 Knapp Ag High-speed gripper-changing system
DE102013111938B3 (en) * 2013-10-30 2014-11-27 Alexander Binzel Schweisstechnik Gmbh & Co. Kg Magnetic welding tool coupling, welding tool and welding device
WO2015062775A1 (en) * 2013-10-30 2015-05-07 Alexander Binzel Schweisstechnik Gmbh & Co. Kg Welding tool coupling having at least one magnetic system and at least one short-circuit device, welding tool, and welding device
CN105684102A (en) * 2013-10-30 2016-06-15 亚历山大·宾策尔焊接技术两合公司 Welding tool coupling having at least one magnetic system and at least one short-circuit device, welding tool, and welding device
US9987711B2 (en) 2013-10-30 2018-06-05 Alexander Binzel Schweisstechnik Gmbh & Co. Kg Welding tool coupling having at least one magnet system and at least one short-circuit device, welding tool, and welding device
RU2662235C2 (en) * 2013-10-30 2018-07-25 Александер Бинцель Швайсстехник Гмбх Унд Ко. Кг Welding tool coupling having at least one magnetic system and at least one short-circuit device, welding tool and welding device
CN105684102B (en) * 2013-10-30 2018-04-24 亚历山大·宾策尔焊接技术两合公司 Soldering appliance connector, soldering appliance and welder with least one magnetic system and at least one short-circuiting means
US10335958B2 (en) 2016-02-08 2019-07-02 The Boeing Company Robotic end effector quick change mechanism with switchable magnetic coupler
EP3202541A3 (en) * 2016-02-08 2017-10-25 The Boeing Company Robotic end effector quick change mechanism with switchable magnetic coupler with moment support
US10414055B2 (en) 2016-02-08 2019-09-17 The Boeing Company Robotic end effector quick change mechanism with switchable magnetic coupler with moment support
CN107363863A (en) * 2017-08-11 2017-11-21 重庆微浪生物科技有限公司 Male and female head attachment means for the connection of Bioexperiment utensil
DE102017123297A1 (en) 2017-10-06 2018-08-30 Airbus Defence and Space GmbH Interchangeable tool and tool holder for a robot arm
WO2019110383A1 (en) * 2017-12-07 2019-06-13 Primetals Technologies Austria GmbH Robot-compatible medium coupling
EP3495705A1 (en) * 2017-12-07 2019-06-12 Primetals Technologies Austria GmbH Robot-compatible medium coupling
CN111417813A (en) * 2017-12-07 2020-07-14 首要金属科技奥地利有限责任公司 Robotic compatible media coupler
CN111417813B (en) * 2017-12-07 2022-02-08 首要金属科技奥地利有限责任公司 Robotic compatible media coupler
EP3524378A3 (en) * 2018-02-08 2019-09-11 Ersa GmbH Electric soldering device, in particular a soldering iron
DE102019203955A1 (en) * 2019-03-22 2020-09-24 Volkswagen Ag Device for automatic charging of an electric vehicle
CN111515992A (en) * 2020-05-07 2020-08-11 钛昇科技股份有限公司 Automatic change arm and change mechanism
CN111515992B (en) * 2020-05-07 2021-07-02 钛昇科技股份有限公司 Automatic change arm and change mechanism
CN113524151A (en) * 2021-09-15 2021-10-22 江苏润杨机器人有限公司 Turnover type adjustable manipulator based on intelligent robot and use method thereof
WO2023115207A1 (en) * 2021-12-20 2023-06-29 Macdonald, Dettwiler And Associates Inc. System, method, and device for dust tolerant robotic interface

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Legal Events

Date Code Title Description
R207 Utility model specification

Effective date: 20020411

R156 Lapse of ip right after 3 years

Effective date: 20040501