DK202101249A1 - Robot work tool changing system and robotic tool replacement and storage method - Google Patents
Robot work tool changing system and robotic tool replacement and storage method Download PDFInfo
- Publication number
- DK202101249A1 DK202101249A1 DKPA202101249A DKPA202101249A DK202101249A1 DK 202101249 A1 DK202101249 A1 DK 202101249A1 DK PA202101249 A DKPA202101249 A DK PA202101249A DK PA202101249 A DKPA202101249 A DK PA202101249A DK 202101249 A1 DK202101249 A1 DK 202101249A1
- Authority
- DK
- Denmark
- Prior art keywords
- tool
- gripping
- coupling means
- arm
- flange
- Prior art date
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
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
-
- 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
- B25J15/0433—Connections means having gripping members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
This invention relates to a robotic end-of-arm tool quick-change device and a related tool replacement method for industrial use, e.g., in industries using one robot for multiple operations, including slaughterhouses and the meat packing industry.
Description
DK 2021 01249 A1 1
ROBOT WORK TOOL CHANGING SYSTEM AND
ROBOTIC TOOL REPLACEMENT AND STORAGE METHOD
This invention relates to a robotic end-of-arm tool quick-change device and a related tool replacement method for industrial use, e.g., in industries using one robot for multiple operations, including slaughterhouses and the meat packing industry.
Through many years, the meat industry has been industrialised in terms of organisation, work specialisation and use of long production lines with specialized workstations operating serially, one after the other. Long production lines generally are unsuited for producing small series, with frequent conversions/change of product focus, and are unsuited for a product mix where multiple products are run simultaneously,
Therefore, a paradigm shift is underway in the slaughterhouse industry.
Contemporary industrial slaughterhouse processes typically make use of a plurality of collaborative robot cells or process modules and take place in several parallel cell stations rather than at a few serial production lines. This type of production necessitates the use of various work tools, and to keep up with the work pace it is important to be able to perform a rapid shift of tools.
In many robotic manufacturing applications, it has proven cost-effective to utilize a relatively generic robot arm to accomplish a variety of tasks. In these applications, a tool changer is used to attach different tools to the robot. One half of the tool changer, called the master unit, is permanently affixed to a robot arm. The other half, called the tool unit, is affixed to each tool that the robot may utilize. When the robot arm positions the master unit adjacent a tool unit connected to a desired tool, a coupling mechanism is actuated that mechanically locks the master and tool units together, thus affixing the tool to the end of the robot arm.
Robotic tool interchanging systems with rapid coupling mechanisms have been described. A manually actuated robotic tool changer, for instance, is described in e.g.,
WO2010028113. However, the tool replacement device and the related tool replacement method described herein have never been suggested.
DK 2021 01249 A1 2
The present invention relates to a rapid tool replacement device and the related tool replacement method. The robotic tool replacement device of the invention represents a fully mechanic solution, and thus is characterised by being fast, reliable, robust, and may easily be integrated into existing industrial processes, including actions that take place in robot cells or process modules.
The robotic tool replacement device of the invention ensures the working tool is gripped quickly and accurately, by means of a powerful mechanism that can carry a relatively large weight.
The tool replacement system of the invention may be characterised by comprising the following three components: a master unit, i.e., a robotic end-of-arm working tool changer (A), a tool unit, i.e., a universal tool adaptor/tool flange (B), and a tool magazine, i.e., a tool table/tool stocker/tool magazine (C).
Thus, in its first aspect, the invention provides a robotic tool changing system for industrial use, where it is operable for quick replacement of a working tool, which tool changing system comprises: a robotic end-of-arm tool changer (A), which robotic end-of-arm tool changer comprises the following elements: e a housing element (A2) comprising a rotatable and lifting swivel-mechanism (A3) configured for interaction with physical elements located on the tool table/tool stocker/tool magazine (C); and e a centring device (A4), configured for guiding the robotic end-of-arm tool changer (A) towards the centre of the tool coupling means (B); a tool coupling means /tool adaptor/tool flange (B), which tool coupling means/tool adaptor/tool flange comprises the following elements: e a tracking/steering means (B1) configured for guiding the robotic tool changer (A) towards the centre of the tool coupling means (B); and e a fastening means (B2) configured for attaching the tool coupling means (B) to the tool changer (A); and a tool table /tool stocker /tool magazine (C), which tool table/tool stocker/tool magazine constitutes a two-part tool table (C1, C2) separated by a guiding/feeding duct (C3) configured to advance the tool coupling means (B), and which tool table/tool stocker/tool magazine comprises the following essential elements: e one or more physical devices/mechanical manipulators/bollards (C5, C6, C7) located on, and attached to, the tool table/tool stocker/tool magazine (C), and complimentary to and configured for mechanical/physical interaction with
DK 2021 01249 A1 3 the gripping devices (A3.1A, A3.2A) and the lifting devices (A3.1B, A3.2B), respectively, of the rotatable and lifting swivel-mechanism (A3).
In another aspect, the invention provides a method for rapid replacement of a robotic end-of-arm work tool, which method may be characterised by comprising the subsequent steps of: i. after a concluded sub-process, returning the used tool coupling means/tool adaptor/tool flange (B') to the tool table/tool stocker/tool magazine (C) for unloading and storing the used tool coupling means/tool adaptor/tool flange (B’) by manipulation with the industrial robot/manipulator; ii. directing the used tool coupling means/tool adaptor/tool flange (B') to a guiding/feeding duct/guiding track (C3) of the tool table/tool stocker/tool magazine (C) by manipulation with the industrial robot/manipulator; iii. removal of the used tool coupling means/tool adaptor/tool flange (B") by mutual interaction of the first gripping and locking arm (A3.1) of the rotatable and lifting swivel-mechanism (A3) with the device/mechanical manipulator (C5) for turning and unlocking the swivel-mechanism (A3); iv. elevation of the rotatable and lifting swivel-mechanism (A3) by interaction of the lifting device of first gripping arm (A3.1B) with the left-side device/mechanical manipulator/bollard (C6A) followed by interaction of the lifting device of second gripping arm (A3.2B) with the right-side device/mechanical manipulator/bollard (C6B), which actions cause a lift of the swivel-mechanism (A3) and release of the used tool coupling means/tool adaptor/tool flange (B’); v. transferring the robotic end-of-arm working tool changer (A) to the desired/new tool coupling means/tool adaptor/tool flange (B”) for subsequent connection; vi. installation of the new/desired tool coupling means/tool adaptor/tool flange (B”) by interaction of the second gripping and locking arm (A3.2) with the device/mechanical manipulator (C7) for turning and locking the swivel-mechanism (A3); and viii. start-up of a new sub-process for continuation of, or conclusion of the industrial process/operation.
Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings.
Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.
DK 2021 01249 A1 4
The present invention is further illustrated by reference to the accompanying drawing, in which:
Fig. 1 shows the essential elements of the system of the invention;
Fig. 2 shows an example of the master unit, i.e., the robotic end-of-arm working tool changer (A) of the invention being attached to the tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention;
Fig. 3 represents a more detailed illustration of the essential elements of the master unit, i.e., the robotic end-of-arm working tool changer (A) of the invention, and the tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention; and
Fig. 4 illustrates the sequential steps for unloading the used tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention followed by collection of a new working tool for continued operation.
The robotic tool changing system
In its first aspect, the invention provides a robotic tool changing system for industrial use, including industries with small production series, such as slaughterhouses and the meat packing industry.
The robotic tool changing system of the invention may be characterised by comprising a master unit, i.e., a robotic end-of-arm working tool changer (A) configured for attaching a tool unit, i.e., a tool coupling means /tool adaptor /tool flange (B), which tool coupling means is configured to hold the working tool in question, and which tool changer (A) and tool coupling means (B) are also configured for cooperation with a tool magazine, i.e., an associated tool table/tool stocker (C).
The robotic tool changing system of the invention may be further characterised by comprising the following essential elements: a robotic end-of-arm tool changer (A), which robotic end-of-arm tool changer comprises the following elements: e a housing element (A2) comprising a rotatable and lifting swivel-mechanism (A3) configured for interaction with physical elements located on the tool table/tool stocker/tool magazine (C); and e a centring device (A4), configured for guiding the robotic end-of-arm tool changer (A) towards the centre of the tool coupling means (B);
DK 2021 01249 A1 a tool coupling means /tool adaptor/tool flange (B), which tool coupling means/tool adaptor/tool flange comprises the following elements: e a tracking/steering means (B1) configured for guiding the robotic tool changer (A) towards the centre of the tool coupling means (B); and 5 e a fastening means (B2) configured for attaching the tool coupling means (B) to the tool changer (A); and a tool table /tool stocker /tool magazine (C), which tool table/tool stocker/tool magazine constitutes a two-part tool table (C1, C2) separated by a guiding/feeding duct (C3) configured to advance the tool coupling means (B), and which tool table/tool stocker/tool magazine comprises the following essential elements: e one or more physical devices/mechanical manipulators/bollards (C5, C6, C7) located on, and attached to, the tool table/tool stocker/tool magazine (C), and complimentary to and configured for mechanical/physical interaction with the gripping devices (A3.1A, A3.2A) and the lifting devices (A3.1B, A3.2B), respectively, of the rotatable and lifting swivel-mechanism (A3).
When the robotic arm positions the master unit (A) over the tool unit (B), a coupling mechanism is actuated that mechanically locks the master and tool units together, thus affixing the tool to the end of the robot arm.
The robotic end-of-arm tool changer
To be able to perform a rapid change of working tool, the system of the invention shall comprise a quick snap or fast clamping master unit, i.e., a robotic end-of- arm tool changer (A).
The robotic end-of-arm tool changer (A) of the invention may be characterised by comprising the following essential elements: a housing element (A2) comprising a rotatable and lifting swivel- mechanism (A3), which rotatable and lifting swivel-mechanism (A3) is configured for locking/releasing the tool coupling means/tool adaptor/tool flange (B) by interaction with corresponding physical elements located at the tool table/tool stocker/tool magazine (C); and a centring device (A4), configured for guiding the robotic end-of-arm tool changer (A) towards the centre of the tool coupling means (B).
To be able to lock and/or release the tool coupling means/tool adaptor/tool flange (B), the rotatable and lifting swivel-mechanism (A3) of the invention shall comprise an appropriate number of elements (A3.1A, A3.1B, A3.2A, A3.2B) configured for physical/mechanical interaction with the corresponding physical/mechanical elements mounted on the tool table (C5, C6A, C6B, C7).
DK 2021 01249 A1 6
The master unit (A) shall be assembled with the tool unit (B) by means of one or more locking mechanisms (A3A), which must interact with a corresponding number of locking device, fastening means/locking pin (B2) on the tool part (B).
The tool changing system of the invention may comprise one or more locking mechanisms (A3A) and the same number of corresponding fastening means/locking pins (B2). In one embodiment, the tool changing system of the invention comprises three or more corresponding locking mechanisms (A3A) and fastening means/locking pins (B2), e.g., a set of three corresponding locking mechanisms (A3A) and fastening means/locking pins (B2).
In order to be able to rotate the one or more locking clamps (A3A), the rotatable and lifting swivel-mechanism (A3) of the invention shall comprise a first (A3.1) and a second (A3.2) gripping and locking arm configured for mechanical interaction with the corresponding physical elements (C5, C6A, C6B, C7) of the tool table/tool stocker/tool magazine (C).
Therefore, in one embodiment, the rotatable and lifting swivel-mechanism (A3), of the invention may be characterised by comprising a first (A3.1) and a second (A3.2) gripping and locking arm configured for mechanical interaction with the corresponding physical elements/bollards (C5, C6A, C6B, C7) mounted on the tool table/tool stocker/tool magazine (C).
Next, in another embodiment, the rotatable and lifting swivel-mechanism (A3), of the invention may be characterised by comprising: e a first gripping and locking arm (A3.1) configured for mechanical interaction with the corresponding physical elements (C5, C6B) of the tool table/tool stocker/tool magazine (C), which first gripping and locking arm (A3.1) comprises a gripping device (A3.1A) and a lifting device (A3.1B); and e a second gripping and locking arm (A3.2) configured for mechanical interaction with the corresponding physical elements (C6A and C7) of the tool table/tool stocker/tool magazine (C), which second gripping and locking arm (A3.2) comprises a gripping device (A3.2A) and a lifting device (A3.2B).
The gripping devices (A3.1A, A3.2A) and lifting devices (A3.1B, A3.2B) of the invention may, e.g., be designed in a smooth material, e.g., polyester, that allows the device to slide easily over the corresponding physical elements (C5, C6A, C6B, C7) mounted on the tool table/tool stocker/tool magazine (C), or the gripping devices (A3.1A,
A3.2A) and lifting devices (A3.1B, A3.2B) of the invention may be equipped with a rotatable wheel, as shown in Figs. 2 and 3 (A3.1A, A3.1B, A3.2A, A3.2B).
The element (C7), that interacts with and cause the second gripping and locking arm (A3.2) to rotate, may additionally be mounted with a spring mechanism (C7') capable of adjusting the reaction force acting on this physical element (C7).
DK 2021 01249 A1 7
As the tool changing system of the invention represents an all-mechanical system, the energy needed for interacting the rotatable and lifting swivel-mechanism (A3) with the corresponding physical elements located at the tool table/tool stocker/tool magazine (C) is supplied by the industrial robot/manipulator used according to the invention as it drives the tool changer (A) over the associated tool table/tool stocker/tool magazine (C), as illustrated in Fig. 1.
While being towed by the robot/manipulator, the gripping devices (A3.1A, A3.2A) hits the corresponding/complementary physical elements (C5, C7) placed on the tool table/tool stocker/tool magazine (C) which interaction causes a rotation of the rotatable and lifting swivel-mechanism (A3), and, similarly, the lifting devices (A2.1B, A3.2B) hits the corresponding/complementary physical elements/bollards (C6A, C6B) placed on the tool table/tool stocker/tool magazine (C) which interaction causes a lift of the rotatable and lifting swivel-mechanism (A3), and which counteracts the force of the spring mechanism (A2B).
In a one embodiment, as the swivel-mechanism (A3) is lifted and rotated, as described above, the spring mechanism (A2B) is kept in place in the corresponding bushings (A2B '), which solution causes the rotation of the swivel-mechanism (A3) to take place via rotation of the spring mechanism basis (A2A) via a ball bearing (A2A') for reducing the friction during rotation of the swivel-mechanism (A3).
The physical elements/bollards (C6A, C6B) placed on the tool table/tool stocker/tool magazine (C) off course must be dimensioned so as to cause the necessary elevation of the working tool changer/master unit (A) while being driven across the tool table, and it should also hold a suitable elevation profile (C6A', C6B') so as to guide the lifting devices (A3.1B, A3.2B) up and over the respective bollards (C6A, C6B).
After completing this operation, i.e., rotating and lifting the swivel-mechanism (A3) for unlocking and disposal of the used tool, the swivel-mechanism falls back into place for continued operation, i.e., for transport towards the tool flange (B”) for locating the tracking/steering means/trench/groove for capturing (B1).
For this purpose, the robotic end-of-arm tool changer (A) of the invention comprises a centring device (A4), configured for guiding the robotic end-of-arm tool changer (A) towards the centre of the tool coupling means (B), so that the master unit (A) may quickly be assembled with the tool unit (B).
In one embodiment, the centring device (A4) of the invention is equipped with a centring wheel (A4A) dimensioned to fit the design of the tracking/steering means/trench/groove for capturing (B1).
DK 2021 01249 A1 8
The tool coupling means/tool adaptor/tool flange
To accommodate different working tools, the robotic tool changing system (A) of the invention holds a tool unit, i.e., a tool coupling means/tool adaptor/tool flange (B), which coupling means is attached to and hold the work tool for use according to the invention.
The work tool may be permanently or replaceable mounted. If replaceable mounted, i.e., configured for attachment to various work tools, it may be considered a universal tool adaptor.
The tool coupling means/tool adaptor/tool flange (B) of the invention comprises the following essential elements: a tracking /steering means/trench/groove (Bl) configured for guiding the robotic tool changer (A) towards the centre of the tool coupling means (B) by use of the industrial robot/manipulator; and a fastening means (B2) configured for attaching the tool coupling means (B) to the tool changer (A).
Finally, in another embodiment, the tool coupling means/tool adaptor/tool flange (B) of the invention may additionally comprise a guiding trail (B3) configured for maintaining the tool unit (B) in a fixed position for correct alignment of the tracking/steering means/trench/groove (B1) for rapid receipt of the centring shaft (A4A).
The tool table/tool stocker/tool magazine
For carrying out a continuous process, the system of the invention must comprise a tool table/tool stocker/tool magazine (C) that can receive and store used tools and act as a magazine for various working tools for presentation to and availability for the master unit, i.e., the robotic end-of-arm tool changer (A) of the invention.
The tool table/tool stocker/tool magazine (C) of the invention may be described as a two-part tool table (C1, C2), separated by a guiding/feeding duct (C3) configured to advance the tool coupling means (B), driven by the industrial robot/manipulator.
Moreover, the tool table/tool stocker/tool magazine (C) of the invention comprises one or more physical devices/mechanical manipulators/bollards (C5, C6, C7) located on, and attached to, the tool table (C), which physical devices are complimentary to, and configured for, mechanical/physical interaction with the gripping devices (A3.1A, A3.2A) and the lifting devices (A3.1B, A3.2B), respectively, that are comprised by the rotatable and lifting swivel-mechanism (A3).
In one embodiment, the tool table/tool stocker/tool magazine (C) of the invention comprises fur physical devices/mechanical manipulators/bollards: e one device/mechanical manipulator (C5) for interaction with the complementary gripping device (A3.1A) of the first gripping arm (A3.1);
DK 2021 01249 A1 9 e one device/mechanical manipulator/bollard (C6A) for interaction with the complementary lifting device (A3.1B) of the first gripping arm (A3.1); e one device/mechanical manipulator/bollard (C6B) for interaction with the complementary lifting device (A3.2B) of the second gripping arm (A3.2); and e one device/mechanical manipulator (C7) for interaction with the complementary gripping device (A3.2A) of the second gripping arm (A3.2).
While being towed by the robot/manipulator, the gripping devices (A3.1A, A3.2A) hits the corresponding/complementary physical elements (C5, C7), which interaction causes a rotation of the rotatable and lifting swivel-mechanism (A3), and, similarly, the lifting devices (A2.1B, A3.2B) hits the corresponding/complementary physical elements/bollards (C6A, C6B), which interaction causes a lift of the rotatable and lifting swivel-mechanism (A3), and which counteracts the force of the spring mechanism (A2B).
The physical elements/bollards (C6A, C6B) placed on the tool table/tool stocker/tool magazine (C) off course must be dimensioned so as to cause the necessary elevation of the working tool changer/master unit (A) while being driven across the tool table, and it should also hold a suitable elevation profile (C6A', C6B’) so as to guide the lifting devices (A3.1B, A3.2B) up and over the respective bollards (C6A, C6B) while it is being propelled over the tool table, driven by the industrial robot/manipulator.
The work tool
Examples of work tool for use according to the invention include knives, e.g., rotary (Whizard) knives, saws, scissors, drilling machines, machine taps, screwdrivers, and similar work tools often used in industrial productions, including, but not limited to productions undertaken at slaughterhouses or abattoirs or in the meat packing industry.
The method of the invention
In another aspect, the invention provides a method for rapid replacement of a robotic end-of-arm work tool during an industrial process, e.g., the processing of a meat product at a slaughterhouse or abattoir or in the meat packing industry, by use of arobotic tool changing system comprising a master unit, i.e., a robotic end-of-arm working tool changer (A), a tool unit, i.e., a universal tool adaptor/tool flange (B), and a tool magazine, i.e., a tool table/tool stocker/tool magazine (C).
The method of the invention is for rapid replacement of a used robotic end-of- arm work tool for a new tool during an industrial process, or a sub-process hereof, and it makes use of an industrial robot/manipulator equipped with: e a robotic end-of-arm working tool changer (A) comprising: o a rotatable and lifting swivel-mechanism (A3); o a first gripping and locking arm (A3.1);
DK 2021 01249 A1 10 o a second gripping and locking arm (A3.2); e a coupling means/tool adaptor/tool flange (B) comprising: o a tool coupling means/tool adaptor/tool flange (B) for a used tool (B”) and/or a new tool (B”), respectively; and e a tool table/tool stocker/tool magazine (C) comprising: o a guiding/feeding duct/guiding track (C3); o a device/mechanical manipulator (C5); o a left side device/mechanical manipulator/bollard (C6A); o a device/mechanical manipulator (C7).
The method of the invention for rapid replacement of a used robotic end-of-arm work tool, may be characterised by comprising the subsequent steps of: i. after a concluded sub-process, returning the used tool coupling means/tool adaptor/tool flange (B’) to the tool table/tool stocker/tool magazine (C) for unloading and storing the used tool coupling means/tool adaptor/tool flange (B’) by manipulation with the industrial robot/ manipulator; ii. directing the used tool coupling means/tool adaptor/tool flange (B') to a guiding/feeding duct/guiding track (C3) of the tool table/tool stocker/tool magazine (C) by manipulation with the industrial robot/manipulator; iii. removal of the used tool coupling means/tool adaptor/tool flange (B") by mutual interaction of the first gripping and locking arm (A3.1) of the rotatable and lifting swivel-mechanism (A3) with the device/mechanical manipulator (C5) for turning and unlocking the swivel-mechanism (A3); iv. elevation of the rotatable and lifting swivel-mechanism (A3) by interaction of the lifting device of first gripping arm (A3.1B) with the left-side device/mechanical manipulator/bollard (C6A) followed by interaction of the lifting device of second gripping arm (A3.2B) with the right-side device/mechanical manipulator/bollard (C6B), which actions cause a lift of the swivel-mechanism (A3) and release of the used tool coupling means/tool adaptor/tool flange (B’); v. transferring the robotic end-of-arm working tool changer (A) to the desired/new tool coupling means/tool adaptor/tool flange (B”) for subsequent connection; vi. installation of the new/desired tool coupling means/tool adaptor/tool flange (B”) by interaction of the second gripping and locking arm (A3.2) with the device/mechanical manipulator (C7) for turning and locking the swivel-mechanism (A3); and viii. start-up of a new sub-process for continuation of, or conclusion of the industrial process/operation.
The method of the invention may involve additional process steps.
DK 2021 01249 A1 11
In the first step of the method according to the invention, the tool coupling means holding the work tool (B') used in the previous process-step is returned to the tool magazine (C) for unloading and storing, which action is accomplished by use of the industrial robot/ manipulator.
In its second step, the industrial robot/manipulator used according to the method of the invention guides the used work tool (B”) to the guiding/feeding duct/guiding track (C3) of the tool magazine (C), in which channel the tool coupling means holding the used work tool (B') may be pushed back and forth by the action of the robot/manipulator (see e.g., Fig. 4; Position 1).
In its third step, the tool coupling means holding the work tool (B’) is separated/removed from the tool changer/master unit (A) by rotation of the first gripping and locking arm (A3.1) following mechanical interaction with the device/mechanical manipulator (C5), as the tool changer (A) is dragged along the guiding track (C3), forced by the robot.
In its fourth step, the swivel-mechanism (A3) is elevated, first by interaction with the left-side device/mechanical manipulator/bollard (C6A) with the lifting device of first gripping arm (A3.1B), and next, as the tool changer/master unit (A) is advanced by the robot, by interaction of the right-side device/mechanical manipulator/bollard (C6B) with the lifting device of second gripping arm (A3.2B), which actions cause a lift of the swivel- mechanism (A3), and a concomitant release of the used work tool (B') (see e.g., Fig. 4;
Position 2).
In its fifth step, the robotic end-of-arm working tool changer (A) is transferred from the used work tool unit (B”) to the desired new work tool unit (B”), also located on the tool magazine (C), for subsequent coupling with the robotic end-of-arm working tool changer/master unit (A).
In its sixth step, the new tool coupling means (B”) holding a work tool intended for the continued processing is coupled with the the tool changer/master unit (A) by mechanical interaction of the second gripping and locking arm (A3.2) with the device/mechanical manipulator (C7) located on the tool table (C), by the force of the robot, by which action the swivel-mechanism (A3) is turned and locked (see e.g., Fig. 4;
Position 3).
Finally, in its seventh step, the robot lifts and moves the tool changer/master unit (A) attached to the tool unit (B”) and continues processing, or for finalisation of the operation.
DK 2021 01249 A1 12
The present invention is further illustrated by reference to the accompanying drawing, in which:
Fig. 1 shows the essential elements of the system of the invention: Fastening element/robot flange (Al); Housing element with enclosed spring mechanism (A2); First gripping and locking arm (A3.1); Second gripping and locking arm (A3.2); Tool flange for used/returning tool (B’); Tool flange for tool for new/continuing operation (B”); Right side of tool table (C1); Left side of tool table (C2); Guiding/feeding duct/guiding track (C3);
Direction of movement of the robotic arm (C4); Device/mechanical manipulator for turning and unlocking the swivel-mechanism (C5); Left-side device/mechanical manipulator/bollard (C6A); Right-side device/mechanical manipulator/bollard (C6B); Device/mechanical manipulator for turning and locking the swivel-mechanism (C7);
Fig. 2 shows an example of the master unit, i.e., the robotic end-of-arm working tool changer (A) of the invention being attached to the tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention: Fastening element/robot flange (Al);
Housing element with enclosed spring mechanism (A2); Pressure device/spring mechanism (A2B); Rotatable and lifting swivel-mechanism (A3); Locking clamp (A3A); First gripping and locking arm (A3.1); Gripping device of first gripping arm (A3.1A); Lifting device of first gripping arm (A3.1B); Second gripping and locking arm (A3.2); Gripping device of second gripping arm (A3.2A); Lifting device of second gripping arm (A3.2B); Tool coupling means/tool adaptor/tool flange (B); Fastening means/locking pin (B2); Guiding trail (B3);
Fig. 3 represents a more detailed illustration of the essential elements of the master unit, i.e., the robotic end-of-arm working tool changer (A) of the invention, and the tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention:
Fastening element/robot flange (Al); Housing element with enclosed spring mechanism (A2); Basis for spring mechanism (A2A); Pressure device/spring mechanism (A2B); Bottom of housing element/bottom piece (A2C); Rotatable and lifting swivel- mechanism (A3); Locking clamp (A3A); First gripping and locking arm (A3.1); Gripping device of first gripping arm (A3.1A); Second gripping and locking arm (A3.2); Lifting device of second gripping arm (A3.2B); Centring device/centring shaft (A4); Centring wheel (A4A); and
Fig. 4 illustrates the sequential steps for unloading the used tool unit, i.e., the tool coupling means/tool adaptor/tool flange (B) of the invention followed by collection of a new working tool for continued operation: Fastening element/robot flange (Al); First gripping and locking arm (A3.1); Second gripping and locking arm (A3.2); Direction of movement of the robotic arm (C4); Device/mechanical manipulator for turning and unlocking the swivel-mechanism (C5); Left-side device/mechanical manipulator/bollard
DK 2021 01249 A1 13 (C6A); Right-side device/mechanical manipulator/bollard (C6B); Device/mechanical manipulator for turning and locking the swivel-mechanism (C7).
List of reference signs
This is a listing of various elements relating to the present invention.
Alternative/synonymous designations are separated by slashes.
A Robotic end-of-arm working tool changer/master unit
Al Fastening element/robot flange for mounting the tool changer (A) to an industrial robot
A2 Housing element with enclosed spring mechanism
A2A Basis for spring mechanism for controlling the turning mechanism (A3)
A2A' Ball bearing for spring mechanism basis (A2A)
A2B Pressure device/spring mechanism for pressing the turning-mechanism (A3)
A2B’ Bushing/sleeve for receiving the spring mechanism (A2B)
A2C Bottom of housing element/bottom piece
A3 Rotatable and lifting swivel-mechanism
A3A Locking clamp for contact and interaction with the locking pin (B2) of the tool flange (B)
A3.1 First gripping and locking arm (for interaction with C5 and C6B)
A3.1A Gripping device of first gripping arm (A3.1)
A3.1B Lifting device of first gripping arm (A3.1)
A3.2 Second gripping and locking arm (for interaction with C6A and C7)
A3.2A Gripping device of second gripping arm (A3.2)
A3.2B Lifting device of second gripping arm (A3.2)
A4 Centring device/centring shaft
A4A Centring wheel
B Tool coupling means/tool adaptor/tool flange for mounting the working tool
B' Tool flange for used/returning tool
B” Tool flange for tool for new/continuing operation
B1 Tracking/steering means/trench/groove for capturing and activation of the centring shaft (A4)
B2 Fastening means/locking pin for receipt and fastening of the locking clamp (A3A) of the rotatable swivel-mechanism (A3)
B3 Guiding trail
C Tool table/tool stocker/tool magazine for storing replacement tools
C1 Right side of tool table (relative to the direction of movement of the robotic arm)
DK 2021 01249 A1 14
C2 Left side of tool table (relative to the direction of movement of the robotic arm)
C3 Guiding/feeding duct/guiding track
C4 Direction of movement of the robotic arm
C5 Device/mechanical manipulator for turning and unlocking the swivel- mechanism (A3) by interaction with the first gripping and locking arm (A3.1)
C6A Left-side device/mechanical manipulator/bollard for lifting the swivel- mechanism (A3)
C6B Right-side device/mechanical manipulator/bollard for lifting the swivel- mechanism (A3)
C6B’ Elevation profile of the lifting device/bollard (C6B)
C7 Device/mechanical manipulator for turning and locking the swivel- mechanism (A3) by interaction with the second gripping and locking arm (A3.2)
Claims (4)
1. A robotic tool changing system, which tool changing system comprises: a robotic end-of-arm tool changer (A), which robotic end-of-arm tool changer comprises the following elements: e a housing element (A2) comprising a rotatable and lifting swivel-mechanism (A3) configured for interaction with physical elements located on the tool table/tool stocker/tool magazine (C); and e a centring device (A4), configured for guiding the robotic end-of-arm tool changer (A) towards the centre of the tool coupling means (B); a tool coupling means/tool adaptor/tool flange (B), which tool coupling means/tool adaptor/tool flange comprises the following elements: e a tracking/steering means (B1) configured for guiding the robotic tool changer (A) towards the centre of the tool coupling means (B); and e a fastening means (B2) configured for attaching the tool coupling means (B) to the tool changer (A); and a tool table /tool stocker /tool magazine (C), which tool table/tool stocker/tool magazine constitutes a two-part tool table (C1, C2) separated by a guiding/feeding duct (C3) configured to advance the tool coupling means (B), and which tool table/tool stocker/tool magazine comprises the following essential elements: e one or more physical devices/mechanical manipulators/bollards (C5, C6, C7) located on, and attached to, the tool table/tool stocker/tool magazine (C), and complimentary to and configured for mechanical/physical interaction with the gripping devices (A3.1A, A3.2A) and the lifting devices (A3.1B, A3.2B), respectively, of the rotatable and lifting swivel-mechanism (A3).
2. The robotic tool changing system of claim 1, wherein the rotatable and lifting swivel-mechanism (A3), comprises a first (A3.1) and a second (A3.2) gripping and locking arm configured for mechanical interaction with the corresponding physical elements/bollards (C5, C6A, C6B, C7) of the tool table/tool stocker/tool magazine (C).
3. The robotic tool changing system of claim 1, wherein the rotatable and lifting swivel-mechanism (A3) comprises: e a first gripping and locking arm (A3.1) configured for mechanical interaction with the corresponding physical elements (C5, C6B) of the tool table/tool stocker/tool magazine (C), which first gripping and locking arm (A3.1) comprises a gripping device
(A3.1A) and a lifting device (A3.1B); and
DK 2021 01249 A1 2 e a second gripping and locking arm (A3.2) configured for mechanical interaction with the corresponding physical elements (C6A and C7) of the tool table/tool stocker/tool magazine (C), which second gripping and locking arm (A3.2) comprises a gripping device
(A3.2A) and a lifting device (A3.2B).
4. A method for rapid replacement of a robotic end-of-arm work tool, which method makes use of an industrial robot/manipulator equipped with: a robotic end-of-arm working tool changer (A) comprising: o a rotatable and lifting swivel-mechanism (A3); o a first gripping and locking arm (A3.1); o a second gripping and locking arm (A3.2); a coupling means/tool adaptor/tool flange (B) comprising: o a tool coupling means/tool adaptor/tool flange (B) for a used tool (B") and/or a new tool (B”), respectively; and a tool table/tool stocker/tool magazine (C) comprising: o a guiding/feeding duct/guiding track (C3); o a device/mechanical manipulator (C5); o a left side device/mechanical manipulator/bollard (C6A); o a device/mechanical manipulator (C7); and which method is characterised by comprising the subsequent steps of:
i. after a concluded sub-process, returning the used tool coupling means/tool adaptor/tool flange (B') to the tool table/tool stocker/tool magazine (C) for unloading and storing the used tool coupling means/tool adaptor/tool flange (B’) by manipulation with the industrial robot/manipulator;
ii. directing the used tool coupling means/tool adaptor/tool flange (B') to a guiding/feeding duct/guiding track (C3) of the tool table/tool stocker/tool magazine (C) by manipulation with the industrial robot/manipulator;
iii. removal of the used tool coupling means/tool adaptor/tool flange (B") by mutual interaction of the first gripping and locking arm (A3.1) of the rotatable and lifting swivel-mechanism (A3) with the device/mechanical manipulator (C5) for turning and unlocking the swivel-mechanism (A3);
iv. elevation of the rotatable and lifting swivel-mechanism (A3) by interaction of the lifting device of first gripping arm (A3.1B) with the left-side device/mechanical manipulator/bollard (C6A) followed by interaction of the lifting device of second gripping arm (A3.2B) with the right-side device/mechanical manipulator/bollard (C6B), which actions cause a lift of the swivel-mechanism (A3) and release of the used tool coupling means/tool adaptor/tool flange (B’);
DK 2021 01249 A1 3 v. transferring the robotic end-of-arm working tool changer (A) to the desired/new tool coupling means/tool adaptor/tool flange (B”) for subsequent connection;
vi. installation of the new/desired tool coupling means/tool adaptor/tool flange (B”) by interaction of the second gripping and locking arm (A3.2) with the device/mechanical manipulator (C7) for turning and locking the swivel-mechanism (A3); and viii. start-up of a new sub-process for continuation of, or conclusion of the industrial process/operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202101249A DK181294B1 (en) | 2021-12-22 | 2021-12-22 | Robot work tool changing system and robotic tool replacement and storage method |
| PCT/EP2022/086569 WO2023117850A1 (en) | 2021-12-22 | 2022-12-19 | Robot work tool changing system and robotic tool replacement and storage method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202101249A DK181294B1 (en) | 2021-12-22 | 2021-12-22 | Robot work tool changing system and robotic tool replacement and storage method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| DK202101249A1 true DK202101249A1 (en) | 2023-07-05 |
| DK181294B1 DK181294B1 (en) | 2023-07-05 |
Family
ID=84888556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DKPA202101249A DK181294B1 (en) | 2021-12-22 | 2021-12-22 | Robot work tool changing system and robotic tool replacement and storage method |
Country Status (2)
| Country | Link |
|---|---|
| DK (1) | DK181294B1 (en) |
| WO (1) | WO2023117850A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4520550A (en) * | 1983-05-27 | 1985-06-04 | Automated Robotic Systems, Inc. | Robot tool changer |
| JPH05169383A (en) * | 1991-12-24 | 1993-07-09 | Nitta Ind Corp | Falling preventive device of automatic tool changing coupler |
| US8857821B2 (en) | 2008-09-05 | 2014-10-14 | Ati Industrial Automation, Inc. | Manual robotic tool changer with rotating piston |
| JP2014188616A (en) * | 2013-03-27 | 2014-10-06 | Seiko Epson Corp | Robot and robot system |
| DE102019118903A1 (en) * | 2019-07-12 | 2021-01-14 | Pi4_Robotics Gmbh | System and method for changing an end effector on a robot |
| KR20210017173A (en) * | 2019-08-07 | 2021-02-17 | 엘지전자 주식회사 | Tool changer and tool change system |
-
2021
- 2021-12-22 DK DKPA202101249A patent/DK181294B1/en active IP Right Grant
-
2022
- 2022-12-19 WO PCT/EP2022/086569 patent/WO2023117850A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DK181294B1 (en) | 2023-07-05 |
| WO2023117850A1 (en) | 2023-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0037135B1 (en) | Pallet transfer system | |
| US3760491A (en) | Tool change mechanism | |
| CN102248424A (en) | Precision roll turning lathe and automatic tool changer therefor | |
| JPH02147131A (en) | Punching machine equipped with interchangeable punch and work feed device | |
| MXPA02000494A (en) | Trunnion mountable fixture. | |
| US4697838A (en) | Robot gripping jaw operator | |
| CN110682296B (en) | Tool changing warehouse for emergency disposal operation of explosive-handling robot and working method thereof | |
| EP0174799A2 (en) | Machine tools, in particular grinding machines with apparatus for changing grinding wheel tools and workpieces | |
| WO2016186008A1 (en) | Article holder, conveyance robot, and article conveyance method | |
| JPH05285766A (en) | Automatic tool replacing device of machine tool | |
| US4550922A (en) | Workholder | |
| DK181294B1 (en) | Robot work tool changing system and robotic tool replacement and storage method | |
| KR102102466B1 (en) | Multitasking machining center with large capacity tool magazine | |
| RU2744616C1 (en) | Method and device for feeding screws | |
| US4288909A (en) | Automatic tool changer for machine tool | |
| JPS61103746A (en) | Each part exchange system by single robot | |
| JPH06500740A (en) | Automated workpiece handling system used in machine tools | |
| US6783484B2 (en) | Machine tool with gripper and/ or tool magazine system | |
| KR102277794B1 (en) | Machine tool with tool port conveyor for heavy weight tool | |
| JPH04289090A (en) | Auto tool changer mechanism | |
| JPH0351545B2 (en) | ||
| JP6576662B2 (en) | Tool magazine device for machine tools | |
| CN218785579U (en) | Workpiece grabbing manipulator | |
| CN115026622B (en) | Universal automatic machining system for complex parts | |
| CN217837496U (en) | A automatic unloading equipment of going up of general type for complicated part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PAT | Application published |
Effective date: 20230623 |
|
| PME | Patent granted |
Effective date: 20230705 |