DE69104917T2 - Greiferwechselvorrichtung für Roboter. - Google Patents

Greiferwechselvorrichtung für Roboter.

Info

Publication number
DE69104917T2
DE69104917T2 DE69104917T DE69104917T DE69104917T2 DE 69104917 T2 DE69104917 T2 DE 69104917T2 DE 69104917 T DE69104917 T DE 69104917T DE 69104917 T DE69104917 T DE 69104917T DE 69104917 T2 DE69104917 T2 DE 69104917T2
Authority
DE
Germany
Prior art keywords
robots
changing device
gripper changing
gripper
changing
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
DE69104917T
Other languages
English (en)
Other versions
DE69104917D1 (de
Inventor
Toru Nakako
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric 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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Application granted granted Critical
Publication of DE69104917D1 publication Critical patent/DE69104917D1/de
Publication of DE69104917T2 publication Critical patent/DE69104917T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
    • B23Q5/58—Safety devices
    • 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
    • Y10T29/5178—Attachment

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
DE69104917T 1990-07-11 1991-07-04 Greiferwechselvorrichtung für Roboter. Expired - Fee Related DE69104917T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1990074171U JPH0748384Y2 (ja) 1990-07-11 1990-07-11 ロボット用工具交換装置

Publications (2)

Publication Number Publication Date
DE69104917D1 DE69104917D1 (de) 1994-12-08
DE69104917T2 true DE69104917T2 (de) 1995-06-08

Family

ID=13539446

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69104917T Expired - Fee Related DE69104917T2 (de) 1990-07-11 1991-07-04 Greiferwechselvorrichtung für Roboter.

Country Status (6)

Country Link
US (1) US5083352A (de)
EP (1) EP0466027B1 (de)
JP (1) JPH0748384Y2 (de)
KR (1) KR100191238B1 (de)
CA (1) CA2046207A1 (de)
DE (1) DE69104917T2 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009003516A1 (de) 2009-02-23 2010-08-26 Krones Ag Automatische Greiferkopplung
DE102010000598A1 (de) 2010-03-01 2011-09-01 Krones Ag Koppelvorrichtung für mindestens ein Werkzeug eines Handhabungssystems der Lebensmittelindustrie
DE102021133345A1 (de) 2021-12-15 2023-06-15 MATHEUS Industrie-Automation GmbH Kompaktes Greiferwechselsystem für Industrieroboter
DE102022118117A1 (de) 2022-07-20 2024-01-25 E. Winkemann Gmbh Vorrichtung zum Greifen eines Verschlussdeckels

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
US5360249A (en) * 1991-09-13 1994-11-01 Refac Technology Development, Corporation Multifunctional end effectors
JP2527640Y2 (ja) * 1992-08-26 1997-03-05 川崎重工業株式会社 産業用ロボットの工具交換装置
US5664931A (en) * 1995-08-02 1997-09-09 R. A. Jones & Co., Inc. Edge lifting end effector
IT1299758B1 (it) 1998-03-20 2000-04-04 Scaglia Spa Dispositivo per agganciare automaticamente un albero porta bobina ad un mandrino di una macchina
FR2781400B1 (fr) * 1998-07-27 2000-09-29 Genus Technologies Dispositif de centrage et de serrage, notamment de pieces pour carrosserie automobile
NO313003B1 (no) * 2000-05-19 2002-07-29 Knut Ove Steinhovden Oppdriftsutlösbar mekanisk kopling
JP3790759B2 (ja) * 2003-10-17 2006-06-28 ファナック株式会社 ロボットハンド及びハンドリングロボットシステム
WO2013108394A1 (ja) * 2012-01-20 2013-07-25 富士機械製造株式会社 部品実装機の装着ヘッド保持装置
JP5648862B2 (ja) * 2012-03-19 2015-01-07 株式会社安川電機 ロボットシステム及びロボットハンド爪保持機構
US10046465B2 (en) * 2013-06-06 2018-08-14 Seiko Epson Corporation Attaching and detaching device and robot
JP6604531B2 (ja) * 2015-03-26 2019-11-13 ニッタ株式会社 雄型部材及び工具交換装置
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
KR101917321B1 (ko) * 2017-04-28 2019-01-29 재단법인대구경북과학기술원 로봇용 수동 툴 체인저
KR101917328B1 (ko) * 2017-04-28 2018-11-13 재단법인대구경북과학기술원 로봇용 자동 툴 체인저
KR102064463B1 (ko) * 2018-05-11 2020-02-11 재단법인대구경북과학기술원 로봇용 툴 체인저
DE102019119657B4 (de) * 2019-07-19 2021-03-04 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Werkzeugwechsler für einen Roboter und Wechselsystem hierfür
CN115027771B (zh) * 2022-06-22 2023-06-02 江南大学 机器人末端执行器快换联结器、开箱和取货系统及其方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3734556A (en) * 1971-07-07 1973-05-22 Komatsu Seisakusko Kk Gripper device for industrial robots or the like
DE3151532A1 (de) * 1981-12-24 1983-07-14 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Anordnung zum automatischen wechsel von greifern
JPS58155193A (ja) * 1982-03-05 1983-09-14 富士通フアナツク株式会社 工業用ロボツトのハンド着脱装置
US4624043A (en) * 1982-09-29 1986-11-25 The Boeing Company Quick release tool holder for robots
JPS59175984A (ja) * 1983-03-22 1984-10-05 フアナツク株式会社 工業用ロボツトのハンド交換装置
DE3325921A1 (de) * 1983-07-19 1985-01-31 Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern Greifvorrichtung fuer industrieroboter
US4512709A (en) * 1983-07-25 1985-04-23 Cincinnati Milacron Inc. Robot toolchanger system
DE3573995D1 (en) * 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
US4664588A (en) * 1984-03-09 1987-05-12 Applied Robotics Inc. Apparatus and method for connecting and exchanging remote manipulable elements to a central control source
US4627785A (en) * 1984-05-14 1986-12-09 Monforte Robotics, Inc. Exchangeable multi-function end effector tools
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
GB2202572B (en) * 1986-12-01 1990-09-19 British Aerospace Retaining device
US4852242A (en) * 1988-03-24 1989-08-01 Hewlett-Packard Company Tool coupling apparatus and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009003516A1 (de) 2009-02-23 2010-08-26 Krones Ag Automatische Greiferkopplung
DE102010000598A1 (de) 2010-03-01 2011-09-01 Krones Ag Koppelvorrichtung für mindestens ein Werkzeug eines Handhabungssystems der Lebensmittelindustrie
EP2363254A1 (de) 2010-03-01 2011-09-07 Krones AG Koppelvorrichtung für mindestens ein Werkzeug eines Handhabungssystems der Lebensmittelindustrie
DE102021133345A1 (de) 2021-12-15 2023-06-15 MATHEUS Industrie-Automation GmbH Kompaktes Greiferwechselsystem für Industrieroboter
DE102022118117A1 (de) 2022-07-20 2024-01-25 E. Winkemann Gmbh Vorrichtung zum Greifen eines Verschlussdeckels

Also Published As

Publication number Publication date
KR100191238B1 (ko) 1999-06-15
JPH0748384Y2 (ja) 1995-11-08
KR920002282A (ko) 1992-02-28
US5083352A (en) 1992-01-28
JPH0432885U (de) 1992-03-17
CA2046207A1 (en) 1992-01-12
EP0466027B1 (de) 1994-11-02
DE69104917D1 (de) 1994-12-08
EP0466027A1 (de) 1992-01-15

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Legal Events

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