FR2623742A1 - Device for gripping volumes, particularly tools, from a magazine and on a machine spindle - Google Patents

Device for gripping volumes, particularly tools, from a magazine and on a machine spindle Download PDF

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Publication number
FR2623742A1
FR2623742A1 FR8716826A FR8716826A FR2623742A1 FR 2623742 A1 FR2623742 A1 FR 2623742A1 FR 8716826 A FR8716826 A FR 8716826A FR 8716826 A FR8716826 A FR 8716826A FR 2623742 A1 FR2623742 A1 FR 2623742A1
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France
Prior art keywords
spindle
gripping device
clamp
cylinder
gripping
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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.)
Withdrawn
Application number
FR8716826A
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French (fr)
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Individual
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Individual
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Priority to FR8716826A priority Critical patent/FR2623742A1/en
Publication of FR2623742A1 publication Critical patent/FR2623742A1/en
Withdrawn legal-status Critical Current

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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
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • 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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the 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
    • B23Q3/15553—Tensioning devices or tool holders, e.g. grippers
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • 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
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
    • 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
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Gripping On Spindles (AREA)

Abstract

The subject of the invention relates to the technical field of the handling of tools, in particular of tools used on numerically controlled machine tools. This gripper device is noteworthy in that it has an element E carrying at least one gripper P, the said element being mounted at the end of an arm B which is controlled by any means for providing the grasping, the transportation and the positioning of the tools from a magazine, preferably a rotary magazine, as far as the spindle of a machine tool or vice versa; the said gripper being controlled hydraulically or pneumatically for the purpose of opening it or closing it, by a piston 2 sliding in the body of the element and which is connected to a double roller 15 itself associated with rolling paths 8a, 10a of the said body and to the two branches 23, 24 of the gripper which are each articulated onto the said body, with the possibility of superposition.

Description

L'invention concerne un dispositif de préhension de volumes notamment outils dans un magasin et sur une broche de machine. The invention relates to a device for gripping volumes including tools in a magazine and on a machine spindle.

L'objet de l'invention se rattache principalement au secteur technique de la manipulation des outils, en particulier des outils utilisés sur les machines-outils à commande numérique
Suivant l'invention, on a voulu augmenter les per+or- mances des manipulateurs d'outils qui sont généralement disposés entre un magasin rotatif d'outils et une machine-outil à commande numérique ; ces organes fonctionnent en synchronisme selon un cycle préétabli.The object of the invention is related mainly to the technical sector of the handling of tools, in particular tools used on CNC machine tools
In accordance with the invention, it has been desired to increase the perceptions of tool manipulators which are generally arranged between a rotary tool magazine and a numerically controlled machine tool; these organs operate in synchronism according to a pre-established cycle.

Pour cela, et selon une première caractéristique, le dispositif présente un élément portant au moins une pince, ledit élément étant monté à l'extrémité d'un bras qui est commandé par tous moyens pour permettre la saisie, le transport et le positionnement des outils depuis un magasin de préférence rotatifs jusqu'a la broche d'une machine-outil ou inversement ; ladite pince étant commandée hydrauliquement ou pneumatiquement en vue de son ouverture ou de sa fermeture, par un piston coulissant dans le corps de l'élément et relié à un galet double lui-m#me associé a des chemins de roulement dudit corps et aux deux branches de la pince qui sont articulées chacune sur ledit corps, avec possibilité de superposition. For this, and according to a first feature, the device has an element carrying at least one clamp, said element being mounted at the end of an arm which is controlled by any means to allow the capture, transport and positioning of tools from a magazine preferably rotating to the spindle of a machine tool or vice versa; said clamp being hydraulically or pneumatically controlled for opening or closing by a piston sliding in the body of the element and connected to a double roller itself associated with raceways of said body and to both branches of the clamp which are articulated each on said body, with possibility of superposition.

Selon une autre caractéristique, l'élément portepince et la broche de la machine présentent des détecteurs de proximité afin d'assurer le montage et le démontage rapides des outils par arrêt de la broche dans la bonne position de saisie de l'outil. According to another characteristic, the gripper element and the spindle of the machine have proximity sensors in order to ensure the rapid assembly and disassembly of the tools by stopping the spindle in the correct position of gripping the tool.

Les caractéristiques et d'autres encore ressortiront de la description qui suit. The features and more will be apparent from the following description.

Pour fixer l'objet de l'invention sans toutefois le limiter, dans les dessins annexés
- la figure I est une vue en coupe illustrant une forme de réalisation du dispositif selon l'invention, représenté en position de serrage des pinces,
- la figure 2 est une vue en plan et en coupe consi dégrée suivant la ligne 2.2. de la figure 1,
- la figure 3 est une vue partielle en plan et en coupe comme la figure 2, représentant une pince en position ouverte,
- la figure 4 est une vue en coupe comme la figure 1 montrant la position ouverte de la pince,
- la figure 5 est une vue de profil illustrant le serrage de la pince autour d'un outil monté dans la broche d'une machine,
- les figures 6 et 7 montrent le dispositif de détection de la broche et de l'élément porte-pinces.To fix the object of the invention without limiting it, in the accompanying drawings
FIG. 1 is a sectional view illustrating an embodiment of the device according to the invention, represented in the clamping position of the clamps,
- Figure 2 is a plan view and in section taken along line 2.2. of Figure 1,
FIG. 3 is a partial view in plan and in section like FIG. 2, showing a clamp in the open position,
FIG. 4 is a sectional view like FIG. 1 showing the open position of the clamp,
FIG. 5 is a side view illustrating the clamping of the clamp around a tool mounted in the spindle of a machine,
FIGS. 6 and 7 show the device for detecting the spindle and the gripper element.

Afin de rendre plus concret l'objet de l'invention, on le décrit maintenant sous une forme non limitative de réali- sation illustrée aux figures des dessins. In order to make the object of the invention more concrete, it is now described in a non-limiting embodiment illustrated in the figures of the drawings.

Dans tout ce qui suit, on décrit, le dispositif dans une réalisation à deux pinces (Pi-P2) montées aux deux extrémi- tés d'un élément porte-pince, mais il est bien évident que l'on peut prévoir une seule pince (P) ou encore plus de deux pinces, sans pour cela sortir du concept de l'invention. In all that follows, the device is described in a embodiment with two grippers (Pi-P2) mounted at the two ends of a clip holder element, but it is obvious that only one clamp can be provided. (P) or more than two clamps, without departing from the concept of the invention.

Le dispositif selon l'invention est monté à l'extré- mité d'un bras (B) dont on a illustré seulement ladite extrémité, étant entendu que ce bras est monté a rotation contr#lée entre la broche de la machine et un magasin rotatif d'outils, afin d'assurer selon un cycle programmé, la saisie d'un outil dans le magasin, son transfert jusqu'en dessous de la broche et son positionnement dans la broche. The device according to the invention is mounted at the end of an arm (B) of which only said end has been illustrated, it being understood that this arm is mounted with controlled rotation between the spindle of the machine and a magazine rotary tool, to ensure, according to a programmed cycle, the entry of a tool into the magazine, its transfer to below the spindle and its positioning in the spindle.

Dans l'exemple illustré, le dispostif comprend un élément tE) porte-pinces qui est constitué d'une pièce centrale (i) montée à rotation libre par sa queue (la) dans l'extrémité du bras ou elle est commandée par tous moyens connus pour pré- senter l'une ou l'autre des pinces au niveau d'un outil à saisir.Des canalisations (lb)(lc) dans la queue, et (ld)(le) dans la partie (lof) transversale à la queue, autorisent la circulation d'un fluide destiné à déplacer indépendamment l'un vers l'autre, a l'encontre d'un ressort commun (5), des pistons (2) et (3 > qui sont montés a coulissement étanche dans un manchon (4 > fixé dans la partie (1f) et communiquant avec les canalisations (1d) (1e) par des orifices (4a)(4b). In the illustrated example, the dispostif comprises a tE) clip holder which consists of a central piece (i) mounted to rotate freely by its tail (la) in the end of the arm or it is controlled by any means known to present one or the other of the clamps at the level of a tool to be grasped. Pipes (lb) (lc) in the tail, and (ld) (le) in the portion (lof) transverse to the tail, allow the circulation of a fluid for moving independently to one another, against a common spring (5), pistons (2) and (3> which are mounted to slide tightly in a sleeve (4> fixed in the part (1f) and communicating with the pipes (1d) (1e) through orifices (4a) (4b).

Les pistons (2) et (3) s'appuient par leur tête (5a)- (3a) contre des bouchons (6) et (7 > de fermeture du cylindre ainsi constitué, et leur tige (2b) (3b), traversant lesdits bouchons, s'étendent entre des parties supérieures (8) et (9) et inférieure (10) du corps de l'élément dont les extrémités libres reçoivent les pinces. The pistons (2) and (3) are supported by their head (5a) - (3a) against plugs (6) and (7> closing the cylinder thus formed, and their rod (2b) (3b), passing through said plugs extend between upper parts (8) and (9) and lower (10) of the body of the element whose free ends receive the clamps.

Les tiges (2b)(3b) sont articulées en (li) et (12 > a des barrettes (13)(14) qui portent, de manière perpendiculaire à leur extrémité libre, un galet double (15)(16) formé d'un axe (17)(l8) équipé à chaque bout de roulements (19) (19a) et (20) (20a) coopérant avec des chemins de roulement qu rainures (8a) (9a) et (10a)(10b) réalisés sur les parties (8) (9) (10) du corps. The rods (2b) (3b) are articulated at (li) and (12> to bars (13) (14) which carry, perpendicularly to their free end, a double roller (15) (16) formed of an axle (17) (18) equipped at each end of bearings (19) (19a) and (20) (20a) cooperating with grooves (8a) (9a) and (10a) (10b) produced on the parts (8) (9) (10) of the body.

Sur les galets doubles (15) (16) sont également montés de part et d'autre, des barrettes (13 > (14), des roulements (21) (21a)(22)(22a) coopérant avec des lumières en forme de cames (23a) (24a) et (25a)(26a) réalisées sur chaque branche (23)(24) (25)(26) des pinces (P1-P2). On the double rollers (15) (16) are also mounted on either side, bars (13> (14), bearings (21) (21a) (22) (22a) cooperating with lights in the form of cams (23a) (24a) and (25a) (26a) formed on each leg (23) (24) (25) (26) of the clamps (P1-P2).

Lesdites pinces sont articulées en (27)(28)(29)(30) par rapport au corps de l'élément (E) par l'intermédiaire de leurs talons arrière (23b)(24b)(25b)(26b) et elles sont réali- sFes de telle sorte qu'elles puissent se superposer en passant au-dessus et au-dessous des barrettes (13)-(14). Said clamps are hinged (27) (28) (29) (30) relative to the body of the member (E) through their rear heels (23b) (24b) (25b) (26b) and are made so that they can be superimposed by passing above and below the bars (13) - (14).

En se référant plus particulièrement aux figures 1, 2, 3, 4, 5, on décrit maintenant le fonctionnement des pinces. Referring more particularly to Figures 1, 2, 3, 4, 5, the operation of the clamps is now described.

Lorsqu'on envoie le fluide dans les canalisations par parexemple, le piston (2) recule a l'encontre du ressort (5 > qui se co-prive. La barrette (13), reliée a la tige (2b) du piston recule également en étant guidée par ses roulements (19) (19a) dans les rainures (8a)(10a). Dans ce mouvement, les roulements (21)(21a) coopérant avec les lumières (23a)(24a), obligent les branches des pinces articulées en (27)(28) a pivo ter en sens contraire (floches (F1-F2), figure 3 > , afin de par mettre le passage de la pince autour de l'outil.Lorsque la pince est en positon correcte au niveau d'une gorge (G1) du porteoutil (PO) disposé dans le magasin rotatif ou dans la broche (M > de la machine, comme illustré figure 5, la commande de fluide est annulée et le ressort (5) se détendant, assure l'avance du piston (2) et de la barrette (13), donc le pivotement inverse des branches de la pince qui se referment alors sur la gorge
(Gl). When the fluid is sent into the pipes for example, the piston (2) moves back against the spring (5) which co-deputes.The bar (13), connected to the rod (2b) of the piston also retracts. by being guided by its bearings (19) (19a) in the grooves (8a) (10a) .In this movement, the bearings (21) (21a) cooperating with the lights (23a) (24a), force the branches of the clamps articulated in (27) (28) to pivot in the opposite direction (floches (F1-F2), Figure 3>, in order to put the passage of the clamp around the tool.When the clamp is positon correct at the level a groove (G1) of the tool holder (PO) disposed in the rotary magazine or in the spindle (M> of the machine, as shown in FIG. 5, the fluid control is canceled and the spring (5) is relaxed, ensures advance of the piston (2) and the bar (13), so the reverse pivoting of the branches of the clamp which then close on the throat
(Gl).

Pour faciliter l'opération de saisie de l'outil sur la broche de la machine, il est nécessaire de positionner la broche selon une orientation déterminée, c'est-#-dire avec ses ergots (M1) d'entrainement du porte-outil en alignement avec l'axe du porte-pinces. Lesdits moyens de détection agissant sur le variateur de vitesse de la broche de la machine pour assurer son arrêt avec une tolérance de position appropriée. To make it easier to grasp the tool on the spindle of the machine, it is necessary to position the spindle in a specific orientation, ie with its lugs (M1) for driving the tool holder. in alignment with the axis of the clip holder. Said detection means acting on the speed variator of the spindle of the machine to ensure its stop with an appropriate position tolerance.

Pour cela, on utilise un dispositif de détection qui est illustré notamment aux figures 6, 7 des dessins. La portée terminale (M2) de la broche qui porte les ergots (M1) présente un élément détecteur de proximité (D1), et un autre élément dé- tecteur (D2 > est disposé axialement à l'extrémité ou à chaque extrémité du porte-pinces. For this, a detection device is used which is illustrated in particular in Figures 6, 7 of the drawings. The end bearing (M2) of the pin carrying the lugs (M1) has a proximity sensor element (D1), and another sensor element (D2) is axially disposed at the end or at each end of the holder. pliers.

La pince étant ouverte et présentée au niveau du porte-outil, lorsque les deux détecteurs sont en regard, la broche 5 7 arrête. The clamp being open and presented at the tool holder, when the two detectors are opposite, the spindle 7 stops.

Dans un deuxième temps, les branches de la pince sont refermées et des saillies triangulaires (23c)(24c)(25c)(26c) formées sur chaque branche des pinces au niveau de leur partie d'enserrage, se rejoignent pour se loger dans l'une des encoches (P01) d'entraînement du porte-outil par les ergots (M1), en orientant puis en bloquant ainsi la broche pendant le changement d'outil. In a second step, the branches of the clamp are closed and triangular protrusions (23c) (24c) (25c) (26c) formed on each branch of the clamps at their gripping portion, join to lodge in the housing. one of the notches (P01) for driving the tool holder by the lugs (M1), thereby orienting and thereby blocking the pin during the tool change.

Bien entendu, Si l'élément (E) est, comme illustré, du type à deux pinces opposées, le fonctionnement de la deuxième pince est du même genre, il suffit de prévoir une commande en rotation de la pièce centrale (1) suivant 180 et d'alimenter alors les canalisations (lc) (le) pour assurer l'action de la deuxième pince. Of course, if the element (E) is, as illustrated, of the type with two opposite clamps, the operation of the second clamp is of the same kind, it suffices to provide a control in rotation of the central piece (1) following 180 and then feed the pipes (lc) (the) to ensure the action of the second clamp.

Les avantages ressortent bien de la description. On souligne notamment la simplification du dispositif de préhension, sa rapidité d'actionnement, la précision obtenue par loor- gane de détection et conséquemment l'amélioration des performances.  The advantages are apparent from the description. In particular, the simplification of the gripping device, its speed of actuation, the precision obtained by the detection louvre and consequently the improvement of the performances are emphasized.

Claims (1)

REVENDICATIONS - 1 - Dispositif de préhension de volumes notamment d'outils dans un magasin et sur une broche de machine, caractérisé en ce qu'il présente un élément < E > portant au moins une pince (P) de préhension, ledit élément étant monté à l'extrémité d'un bras (B) qui est commandé par tous moyens pour assurer la saisie, le transport et le positionnement des outils depuis un magasin de préférence rotatif jusqu'a la broche d'une machine-outil ou inversement ; ladite pince étant commandée hydrauliquement ou pneumatiquement, en vue de son ouverture ou de sa fermeture, par un piston (2) coulissant dans le corps de l'élément et qui est relié a un galet double (15) lui-m#me associé- & des chemins de roulements (8a)(10a) dudit corps et aux deux branches (23) (24 > de la pince qui sont articulées chacune sur ledit corps, avec possibilité de superposition - 2 - Dispositif de préhension selon la revendication 1, caractérisé en ce que le piston (2) est relié au galet double (15) par une barrette (13) elle-mEme articulée à la tige (2b) du pis ton et passant entre les deux branches < 23)(23)(24) des pinces. - 1 - Device for gripping volumes including tools in a magazine and on a machine spindle, characterized in that it has an element <E> carrying at least one clamp (P) gripping, said element being mounted to the end of an arm (B) which is controlled by any means to ensure the capture, transport and positioning of the tools from a preferably rotating magazine to the spindle of a machine tool or vice versa; said clamp being hydraulically or pneumatically controlled, for opening or closing, by a piston (2) sliding in the body of the element and which is connected to a double roller (15) itself associated with & bearing paths (8a) (10a) of said body and the two legs (23) (24> of the clamp which are each articulated on said body, with possibility of superposition - 2 - Gripping device according to claim 1, characterized in that the piston (2) is connected to the double roller (15) by a bar (13) itself articulated to the rod (2b) of the pis ton and passing between the two arms <23) (23) (24) pliers. - 3 - Dispositif de préhension selon la revendication 1 carac térisé en ce que le galet double (15) est constitué par un axe (17) porté transversalement par la barrette (13) ; de part et d'autre de ladite barrette sont montés des roulements (21)(21a) coopérant avec des lumières en forme de came (23a)(24a) établies sur chaque branche (23 > (24) des pinces ; aux extrémités de l'axe (17), d'autres roulements (19)(19a) sont logés dans des rainures (8a)(10a) formées dans le corps de l'élément (E) afin de guider en translation la barrette (13) lors des manoeuvres de la pince.- 3 - A gripping device according to claim 1 charac terized in that the double roller (15) is constituted by an axis (17) carried transversely by the bar (13); on either side of said bar are bearings (21a) (21a) cooperating with cam-shaped slots (23a) (24a) provided on each leg (23> (24) of the clamps; (17), other bearings (19) (19a) are housed in grooves (8a) (10a) formed in the body of the element (E) in order to guide the bar (13) in translation during maneuvers of the clamp. (6) du cylindre par un organe élastique < 5).  (6) of the cylinder by an elastic member <5). - 4 - Dispositif de préhension selon la revendication 1 caractérisé en ce que la tête (2a > du piston (2) est logée dans un cylindre formé par un manchon (4) fixé dans une partie centrale (1f) d'une pièce (1) montée a l'extrémité du bras (B) et équipée de canalisations (lb) (ld) de circulation du fluide de commande communiquant avec le cylindre par un orifice (4a) ; la tête du piston étant constamment poussée contre un bouchon de fermeture- 4 - Gripping device according to claim 1 characterized in that the head (2a> of the piston (2) is housed in a cylinder formed by a sleeve (4) fixed in a central portion (1f) of a workpiece (1). ) mounted at the end of the arm (B) and equipped with conduits (Ib) (ld) for circulating the control fluid communicating with the cylinder via an orifice (4a), the piston head being constantly pushed against a closure plug - 5 - Dispositif de préhension selon la revendication 1, caractérisé en ce que l'élément (E) est monté tournant a l'extrémité du bras (B) et présente deux pinces (P1)(P2) commandées indépendamment l'une de l'autre par des canalisations séparées (1b)(1d) < Id) d'une part, et (1c)(1e) < le > d'autre part, communiquant avec un cylindre (4) par des orifices (4a)(4b). - 5 - gripping device according to claim 1, characterized in that the element (E) is rotatably mounted at the end of the arm (B) and has two grippers (P1) (P2) independently controlled one of the other by separate pipes (1b) (1d) <Id) on the one hand, and (1c) (1e) <on> on the other hand, communicating with a cylinder (4) through orifices (4a) (4b) ). - 6 - Dispositif de préhension selon la revendication 5, carac térisé en ce que le cylindre (4) est équipé de deux pistons (2)- (3) appliqués en position de serrage des pinces, contre les bouchons de fermeture < 6)(6)(7) du cylindre par un ressort (5) interposé entre les tettes (2a)(3a).- 6 - Gripping device according to claim 5, charac terized in that the cylinder (4) is equipped with two pistons (2) - (3) applied in clamping position of the clamps, against the closure caps <6) ( 6) (7) of the cylinder by a spring (5) interposed between the teats (2a) (3a). - 7 - Dispositif de préhension selon l'une quelconque des revendications 1 et 5, caractérisé en ce que la ou les pinces (P1) (P2 > présentent sur chaque branche (23-24-25-26) au niveau de leur partie d'enserrage, des saillies triangulaires < 23c-24c-25c- 26c) qui se rejoignent à la fermeture des pinces pour se loger dans l'une des encoches (POl) d'entrainement du porte-outil (PO) par les ergots (M1) de la broche (M > de la machine, en orientant puis en bloquant ainsi ladite broche pendant le changement d'outil.- 7 - Gripping device according to any one of claims 1 and 5, characterized in that the or clamps (P1) (P2> present on each branch (23-24-25-26) at their part d 'grip, triangular protrusions <23c-24c-25c-26c) which meet when closing the clamps to fit in one of the notches (PO1) drive the tool holder (PO) by the pins (M1 ) of the spindle (M> of the machine, thereby orienting and thereby blocking said spindle during the tool change. - 8 - Dispositif de préhension selon la revendication 7, caractérisé en ce que pour positionner la broche avec ses ergots (Ml > d'entranement du porte-outil en alignement avec l'axe du portepinces, il est prévu un détecteur de proximité constitué par un élément (D1) porté par la portée terminale (M2 > de la broche et un autre élément (D2) est disposé axialement a l'extrémité ou aux extrémités du porte-pinces ; lesdits moyens de détection agissant sur le variateur de vitesse de la broche de la machine pour assurer son arrSt avec une tolérance de position appropriée, lorsque les deux détecteurs sont alignés.  - 8 - gripping device according to claim 7, characterized in that for positioning the pin with its lugs (Ml> drive of the tool holder in alignment with the axis of the gripper holder, there is provided a proximity detector constituted by an element (D1) carried by the end bearing surface (M2> of the spindle and another element (D2) is arranged axially at the end or at the ends of the gripper holder, said detecting means acting on the drive controller of the spindle; pin of the machine to ensure its stop with an appropriate position tolerance, when both detectors are aligned.
FR8716826A 1987-11-26 1987-11-26 Device for gripping volumes, particularly tools, from a magazine and on a machine spindle Withdrawn FR2623742A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8716826A FR2623742A1 (en) 1987-11-26 1987-11-26 Device for gripping volumes, particularly tools, from a magazine and on a machine spindle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8716826A FR2623742A1 (en) 1987-11-26 1987-11-26 Device for gripping volumes, particularly tools, from a magazine and on a machine spindle

Publications (1)

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FR2623742A1 true FR2623742A1 (en) 1989-06-02

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FR8716826A Withdrawn FR2623742A1 (en) 1987-11-26 1987-11-26 Device for gripping volumes, particularly tools, from a magazine and on a machine spindle

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2774666A1 (en) * 1998-02-12 1999-08-13 Sidel Sa TRANSFER DEVICE FOR HOLLOW BODY HAVING A CHUTE
US7604584B1 (en) * 2008-06-18 2009-10-20 Campro Precision Machinery Co., Ltd. Automatic tool-changing arm of automatic tool changer
EP2551052A1 (en) * 2011-07-29 2013-01-30 A Ingenieria de Automatismos, S.A. Tool changer with two fingers
EP2540458A3 (en) * 2011-06-28 2015-11-04 Kabushiki Kaisha Yaskawa Denki Robot and robot hand

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1180806A (en) * 1957-08-05 1959-06-09 Renault Gripper handling device
US3886652A (en) * 1971-10-24 1975-06-03 Colt Ind Operating Corp Tool changer mechanism
SU931466A2 (en) * 1980-03-26 1982-05-30 Краматорский Научно-Исследовательский И Проектно-Технологический Институт Машиностроения Manipulator gripper
USRE31991E (en) * 1979-05-17 1985-09-24 Single guide rod actuating unit
FR2579188A1 (en) * 1985-03-21 1986-09-26 Cybernetix Device for extracting articles such as letters in envelopes or the like from a small box in order to feed a sorting machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1180806A (en) * 1957-08-05 1959-06-09 Renault Gripper handling device
US3886652A (en) * 1971-10-24 1975-06-03 Colt Ind Operating Corp Tool changer mechanism
USRE31991E (en) * 1979-05-17 1985-09-24 Single guide rod actuating unit
SU931466A2 (en) * 1980-03-26 1982-05-30 Краматорский Научно-Исследовательский И Проектно-Технологический Институт Машиностроения Manipulator gripper
FR2579188A1 (en) * 1985-03-21 1986-09-26 Cybernetix Device for extracting articles such as letters in envelopes or the like from a small box in order to feed a sorting machine

Non-Patent Citations (1)

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Title
SOVIET INVENTIONS ILLUSTRATED, section General/Mechanical, Accession-Nr. E6708K/14, 18 mai 1983, Derwent Publications Ltd, Londres, GB; & SU-A-931 466 (KRAMA MECH ENG TECH) 05-06-1982 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2774666A1 (en) * 1998-02-12 1999-08-13 Sidel Sa TRANSFER DEVICE FOR HOLLOW BODY HAVING A CHUTE
WO1999041170A1 (en) * 1998-02-12 1999-08-19 Sidel Transfer device for hollow body comprising a neck
US7604584B1 (en) * 2008-06-18 2009-10-20 Campro Precision Machinery Co., Ltd. Automatic tool-changing arm of automatic tool changer
EP2540458A3 (en) * 2011-06-28 2015-11-04 Kabushiki Kaisha Yaskawa Denki Robot and robot hand
EP2551052A1 (en) * 2011-07-29 2013-01-30 A Ingenieria de Automatismos, S.A. Tool changer with two fingers
ES2400136R1 (en) * 2011-07-29 2013-09-11 Ingenieria De Automatismos S A A IMPROVED TOOL EXCHANGER

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