DE3477149D1 - Mechanism for automatic changing of tools on industrial robots - Google Patents

Mechanism for automatic changing of tools on industrial robots

Info

Publication number
DE3477149D1
DE3477149D1 DE8484200820T DE3477149T DE3477149D1 DE 3477149 D1 DE3477149 D1 DE 3477149D1 DE 8484200820 T DE8484200820 T DE 8484200820T DE 3477149 T DE3477149 T DE 3477149T DE 3477149 D1 DE3477149 D1 DE 3477149D1
Authority
DE
Germany
Prior art keywords
head
tools
parts
industrial robots
mechanism comprises
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
DE8484200820T
Other languages
English (en)
Inventor
Luciano Bisiach
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.)
Bisiach and Carru SpA
Original Assignee
Bisiach and Carru SpA
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 Bisiach and Carru SpA filed Critical Bisiach and Carru SpA
Application granted granted Critical
Publication of DE3477149D1 publication Critical patent/DE3477149D1/de
Expired legal-status Critical Current

Links

Classifications

    • 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
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0064—Portable machines cooperating with guide means not supported by the workpiece during working
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/318—Supporting devices for electrode holders
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • 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
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • 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
    • Y10S483/901—Robot end effectors
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5104—Type of machine
    • Y10T29/5105—Drill press
    • Y10T29/5107—Drilling and other
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
DE8484200820T 1984-02-13 1984-06-12 Mechanism for automatic changing of tools on industrial robots Expired DE3477149D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67130/84A IT1179967B (it) 1984-02-13 1984-02-13 Meccanismo per il cambio automatico di utensili su robot industriali

Publications (1)

Publication Number Publication Date
DE3477149D1 true DE3477149D1 (en) 1989-04-20

Family

ID=11299838

Family Applications (2)

Application Number Title Priority Date Filing Date
DE8484200820T Expired DE3477149D1 (en) 1984-02-13 1984-06-12 Mechanism for automatic changing of tools on industrial robots
DE198484200820T Pending DE151819T1 (de) 1984-02-13 1984-06-12 Automatischer werkzeugwechsler fuer industrieroboter.

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE198484200820T Pending DE151819T1 (de) 1984-02-13 1984-06-12 Automatischer werkzeugwechsler fuer industrieroboter.

Country Status (9)

Country Link
US (1) US4551903A (de)
EP (1) EP0151819B1 (de)
JP (1) JPS60172483A (de)
AT (1) ATE41344T1 (de)
BR (1) BR8402921A (de)
CA (1) CA1235717A (de)
DE (2) DE3477149D1 (de)
ES (1) ES8506489A1 (de)
IT (1) IT1179967B (de)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2587930B1 (fr) * 1985-05-30 1989-11-10 Steelweld France Dispositif de reception et de stockage d'outils dans des lignes de montage
JPH0221191Y2 (de) * 1985-07-12 1990-06-07
US4709465A (en) * 1985-10-04 1987-12-01 The Ingersoll Milling Machine Company Interchangeable spindle-head milling system
US4660274A (en) * 1985-11-29 1987-04-28 Goumas Peter G Robot tool changing apparatus
US4784421A (en) * 1986-04-18 1988-11-15 Mecanotron Corporation Interchangeable tool mounting mechanism for robots
IT1193450B (it) * 1986-07-16 1988-06-22 Comau Spa Dispositivo per il cambio automatico di attrezzi di robot industriali
GB2192855A (en) * 1986-07-21 1988-01-27 British Nuclear Fuels Plc Tool-change coupling for robots
US5010228A (en) * 1987-12-28 1991-04-23 Obara Corporation Tool changer for welding robot
US4883939A (en) * 1988-06-21 1989-11-28 Automatic Tool Control And Management Systems, Inc. Automatic tool changer for workpiece processing machines
US5063278A (en) * 1988-06-22 1991-11-05 Honda Giken Kogyo Kabushiki Kaisha Method and apparatus for supplying electric power to resistance welding gun
US4996753A (en) * 1988-09-30 1991-03-05 The Boeing Company Robot end effector exchange system
EP0520122A1 (de) * 1991-06-25 1992-12-30 OFFICINE MECCANICHE VARINELLI S.p.A. Räummaschine mit senkrechtem Topf-Räumwerkzeug
US5372567A (en) * 1993-02-26 1994-12-13 Robotics And Automation Corporation Robotic arm tool head selection and storage rack
US5791032A (en) * 1997-05-15 1998-08-11 Eastman Kodak Company Robotic turret tool
ITTO980462A1 (it) * 1998-05-29 1999-11-29 Brown & Sharpe Dea Spa Gruppo di collegamento di un attrezzo di misura ad una testa di misura atta ad essere movimentata da un robot di misura
ITTO980460A1 (it) * 1998-05-29 1999-11-29 Brown & Sharpe Dea Spa Gruppo di collegamento di una testa di misura ad un robot di misura
ITTO20030726A1 (it) * 2003-09-23 2005-03-24 Comau Spa Procedimento ed impianto per la graffatura di pezzi di lamiera
US7634861B2 (en) * 2004-05-21 2009-12-22 Nike, Inc. Footwear with longitudinally split midsole for dynamic fit adjustment
FR2907698B1 (fr) * 2006-10-26 2009-07-03 Aro Soc Par Actions Simplifiee Gamme de pinces a enserrer des toles a batis semblables,et de preference identiques,et pince d'une telle gamme.
US20080119339A1 (en) * 2006-11-16 2008-05-22 Oliver Michael J Quick change end of arm tool attachment
AT9744U3 (de) * 2007-10-17 2008-11-15 Perndorfer Maschb Kg Vorrichtung zum manipulieren eines werkzeuges
DE102009019783A1 (de) * 2008-07-30 2010-02-04 Sms Siemag Aktiengesellschaft Kupplung mit elektrischen Kontakten für ein Öl-Luft-Gemisch
US8992113B2 (en) * 2009-06-08 2015-03-31 Re2, Inc. Robust manual connector for robotic arm end effector
US8382177B2 (en) * 2009-06-11 2013-02-26 Re2, Inc. Quick-change finger for robotic gripper
EP2464884B1 (de) 2009-08-10 2014-01-15 RE2, Inc. Automatische werkzeugwechselanordnung für einen roboterarm
DE202012100384U1 (de) * 2012-02-06 2013-05-10 Kuka Systems Gmbh Kupplungseinrichtung
US9616517B2 (en) 2013-06-25 2017-04-11 Honda Motor Co., Ltd. Removable welding tip assembly
US11097390B2 (en) * 2014-08-20 2021-08-24 Ati Industrial Automation, Inc. Pneumatic safety interlock
FR3053616A1 (fr) * 2016-07-11 2018-01-12 Peugeot Citroen Automobiles Sa Systeme d’accouplement des outils pour un porte-outil d’une machine automatisee
JP6918535B2 (ja) * 2017-03-22 2021-08-11 キヤノン株式会社 ロボット装置、交換ツール、ロボットアーム、ロボット装置を用いた物品の製造方法、ロボット装置の制御方法、制御プログラムおよび記録媒体
DE102019118903A1 (de) * 2019-07-12 2021-01-14 Pi4_Robotics Gmbh System und Verfahren zum Wechseln eines Endeffektors an einem Roboter
DE102020122177A1 (de) * 2019-08-26 2021-03-04 Ati Industrial Automation, Inc. Pneumatische sicherheitsverriegelung
CN114406869B (zh) * 2022-01-07 2022-12-20 上海工程技术大学 一种具备双刀具切换功能的机械臂末端执行器
CN114536071B (zh) * 2022-04-02 2023-01-24 意特利（滁州）智能数控科技有限公司 一种换刀机构

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4310958A (en) * 1977-12-07 1982-01-19 Regie Nationale Des Usines Renault Production-line automatic machine
FR2447785A1 (fr) * 1979-02-05 1980-08-29 Verboom & Durouchard Dispositif de liaison entre un bras et une pince de manipulateur et manipulateur comprenant un tel dispositif
US4281447A (en) * 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
EP0021249A1 (de) * 1979-06-21 1981-01-07 Bühler AG Kupplung für die Plastifizierschnecke einer Spritzgiessmaschine zur Verarbeitung von Kunststoff
IT1129104B (it) * 1980-06-26 1986-06-04 Comau Spa Dispositivo automatico per cambio pinza saldante elettrica azionato dal braccio di un manipolatore programmabile

Also Published As

Publication number Publication date
DE151819T1 (de) 1986-02-13
IT1179967B (it) 1987-09-23
BR8402921A (pt) 1986-01-14
ES533177A0 (es) 1985-08-01
ES8506489A1 (es) 1985-08-01
EP0151819A2 (de) 1985-08-21
EP0151819A3 (en) 1985-11-06
JPS6317599B2 (de) 1988-04-14
IT8467130A0 (it) 1984-02-13
CA1235717A (en) 1988-04-26
ATE41344T1 (de) 1989-04-15
EP0151819B1 (de) 1989-03-15
US4551903A (en) 1985-11-12
JPS60172483A (ja) 1985-09-05

Similar Documents

Publication Publication Date Title
DE3477149D1 (en) Mechanism for automatic changing of tools on industrial robots
US4604787A (en) Tool changer for manipulator arm
EP0178944B1 (de) Industrieroboter
US4894901A (en) Method for positioning a robotic work system
SE8702666L (sv) Anordning for automatiskt byte av verktyg i en industrirobot forsedd med en verktygsuppberande arm
SE8701333L (sv) Anordning vid industrirobotar
GB2219274B (en) Manipulator for a work piece
US4785528A (en) Robotic work positioning system
DE3682621D1 (de) Werkzeugmaschine.
IL87725A0 (en) Restrictive trigger actuated valve arrangement for a fastener driving tool
DE3660652D1 (en) Tool holder comprising two elastically connected members, particularly for a robot
DE69413227T2 (de) Automatischer werkzeugwechsler
ATE39862T1 (de) Schneidpresse mit werkzeugmagazin.
Chan et al. Development of a computer numerical control (CNC) modular fixture—Machine design of a standard multifinger module
DE8521054U1 (de)
JPH09136283A (ja) チャックハンド
CN210606302U (zh) 机器人模块化教学平台
GB2021466A (en) Lathe tool changing
EP0184502A3 (de) Universalgreifeinrichtung für Handhabungsgerät
EP1074338A3 (de) Werkzeugmaschinenführungssystem bzw. Mehrachsenroboter für eine Mehrzahl von Werkzeugen
JPH03256686A (ja) 作業工具自動交換装置、及び、その使用方法
ATE28048T1 (de) Arbeitsgeraet zum bewegen von gegenstaenden.
SU1288017A1 (ru) Устройство дл автоматической смены многогранных неперетачиваемых пластин
GB2183183A (en) Multiple operation machine tool with automatic change of tools
DE69318981D1 (de) Bearbeitungseinheit mit einer Reihe selektiv arbeitender Spannfutter

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee