DK3584044T3 - Værktøjsskifteindretning for en robotarm - Google Patents

Værktøjsskifteindretning for en robotarm Download PDF

Info

Publication number
DK3584044T3
DK3584044T3 DK19177949.5T DK19177949T DK3584044T3 DK 3584044 T3 DK3584044 T3 DK 3584044T3 DK 19177949 T DK19177949 T DK 19177949T DK 3584044 T3 DK3584044 T3 DK 3584044T3
Authority
DK
Denmark
Prior art keywords
robot arm
change device
tool change
tool
robot
Prior art date
Application number
DK19177949.5T
Other languages
English (en)
Inventor
Giovanni Patrini
Stefan Casey
Original Assignee
Effecto Group S P A
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 Effecto Group S P A filed Critical Effecto Group S P A
Application granted granted Critical
Publication of DK3584044T3 publication Critical patent/DK3584044T3/da

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
    • 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
    • B23Q3/15553—Tensioning devices or tool holders, e.g. grippers
    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • 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
    • B23Q2003/155456—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore using separate transfer mechanisms for each tool in the magazine

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
DK19177949.5T 2018-06-18 2019-06-03 Værktøjsskifteindretning for en robotarm DK3584044T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102018000006402A IT201800006402A1 (it) 2018-06-18 2018-06-18 Dispositivo di cambio utensile per un braccio robotico

Publications (1)

Publication Number Publication Date
DK3584044T3 true DK3584044T3 (da) 2021-06-07

Family

ID=63449611

Family Applications (1)

Application Number Title Priority Date Filing Date
DK19177949.5T DK3584044T3 (da) 2018-06-18 2019-06-03 Værktøjsskifteindretning for en robotarm

Country Status (8)

Country Link
US (1) US11559864B2 (da)
EP (1) EP3584044B1 (da)
JP (1) JP7432310B2 (da)
KR (1) KR102589769B1 (da)
CN (1) CN110614647B (da)
DK (1) DK3584044T3 (da)
ES (1) ES2878333T3 (da)
IT (1) IT201800006402A1 (da)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11597085B2 (en) 2018-09-13 2023-03-07 The Charles Stark Draper Laboratory, Inc. Locating and attaching interchangeable tools in-situ
KR102157422B1 (ko) * 2018-10-11 2020-09-17 권태환 선택적인 교체가 가능한 산업용 로봇에 장착되는 수동식 툴장치
CA3214769A1 (en) * 2021-03-26 2022-09-29 Boston Dynamics, Inc. An integrated mobile manipulator robot with accessory interfaces
EP4299259A1 (en) * 2022-06-20 2024-01-03 Effecto Group S.p.A. Safety control apparatus for tool changing device of a robotic arm
EP4296016A1 (en) * 2022-06-20 2023-12-27 Effecto Group S.p.A. Safety control apparatus for tool changing device of a robotic arm

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60123287A (ja) * 1983-08-22 1985-07-01 三菱電機株式会社 産業用ロボツトのハンド装置
IT1193450B (it) * 1986-07-16 1988-06-22 Comau Spa Dispositivo per il cambio automatico di attrezzi di robot industriali
JP2745217B2 (ja) * 1997-02-17 1998-04-28 アプライド ロボティックス インコーポレーテッド 自動工具交換装置
JP4342747B2 (ja) * 2000-10-06 2009-10-14 株式会社安藤製作所 シリンダ制御用センサ及びこれを備えたシリンダ装置
DE202012100384U1 (de) * 2012-02-06 2013-05-10 Kuka Systems Gmbh Kupplungseinrichtung
KR101949057B1 (ko) * 2014-08-20 2019-02-15 에이티아이 인더스트리얼 오토메이션, 인크. 공구 스탠드 디커플링 전원을 갖는 로봇식 공구 교환기
US10661449B2 (en) * 2014-08-20 2020-05-26 Ati Industrial Automation, Inc. Safe robotic tool changer
US11097390B2 (en) * 2014-08-20 2021-08-24 Ati Industrial Automation, Inc. Pneumatic safety interlock
US10017366B2 (en) * 2016-04-01 2018-07-10 Cascade Corporation Clamp having a load-clamping hydraulic cylinder with multiple telescopically extensible stages adapted to apply load clamping force alternatively responsive to load-lifting force or load size
WO2017212790A1 (ja) * 2016-06-08 2017-12-14 ビー・エル・オートテック株式会社 ツール交換装置
DE202018102683U1 (de) * 2018-05-14 2018-05-30 MATHEUS Industrie-Automation GmbH Greifermodul und Vorrichtung zur Durchführung eines Steuerungsverfahrens für ein solches Greifermodul
US11198223B2 (en) * 2019-05-24 2021-12-14 Robot System Products In Scandinavia Ab Safe tool changer

Also Published As

Publication number Publication date
KR20190142722A (ko) 2019-12-27
ES2878333T3 (es) 2021-11-18
JP7432310B2 (ja) 2024-02-16
US20190381617A1 (en) 2019-12-19
CN110614647A (zh) 2019-12-27
CN110614647B (zh) 2024-02-06
JP2020006505A (ja) 2020-01-16
KR102589769B1 (ko) 2023-10-16
IT201800006402A1 (it) 2019-12-18
EP3584044A1 (en) 2019-12-25
US11559864B2 (en) 2023-01-24
EP3584044B1 (en) 2021-03-24

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