JP2009530121A - ロボットツールチェンジャ - Google Patents

ロボットツールチェンジャ Download PDF

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Publication number
JP2009530121A
JP2009530121A JP2009500545A JP2009500545A JP2009530121A JP 2009530121 A JP2009530121 A JP 2009530121A JP 2009500545 A JP2009500545 A JP 2009500545A JP 2009500545 A JP2009500545 A JP 2009500545A JP 2009530121 A JP2009530121 A JP 2009530121A
Authority
JP
Japan
Prior art keywords
piston
tool changer
robot tool
locked position
rolling member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2009500545A
Other languages
English (en)
Japanese (ja)
Other versions
JP2009530121A5 (enExample
Inventor
マイケル エル． グローデン，
レオナルド アーロン オダム，
マーク ディー． ボルドー，
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ATI Industrial Automation Inc
Original Assignee
ATI Industrial Automation Inc
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=38510147&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP2009530121(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by ATI Industrial Automation Inc filed Critical ATI Industrial Automation Inc
Publication of JP2009530121A publication Critical patent/JP2009530121A/ja
Publication of JP2009530121A5 publication Critical patent/JP2009530121A5/ja
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
    • B23B31/30—Chucks characterised by features relating primarily to remote control of the gripping means using fluid-pressure means in the chuck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
    • B23B31/1071—Retention by balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/22—Externally located features, machining or gripping of external surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/10—Expanding
    • Y10T279/1037—Axially moving actuator
    • Y10T279/1041—Wedge
    • Y10T279/1045—Internal cone
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/22—Joints and connections with fluid pressure responsive component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y10T403/592—Ball detent
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y10T403/593—Remotely actuated

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Actuator (AREA)
  • Manipulator (AREA)
JP2009500545A 2006-03-14 2007-02-28 ロボットツールチェンジャ Pending JP2009530121A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/374,706 US8005570B2 (en) 2006-03-14 2006-03-14 Robotic tool changer
PCT/US2007/062940 WO2007106662A2 (en) 2006-03-14 2007-02-28 Robotic tool changer

Publications (2)

Publication Number Publication Date
JP2009530121A true JP2009530121A (ja) 2009-08-27
JP2009530121A5 JP2009530121A5 (enExample) 2010-03-11

Family

ID=38510147

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009500545A Pending JP2009530121A (ja) 2006-03-14 2007-02-28 ロボットツールチェンジャ

Country Status (5)

Country Link
US (1) US8005570B2 (enExample)
EP (1) EP1993764B8 (enExample)
JP (1) JP2009530121A (enExample)
KR (1) KR20090008192A (enExample)
WO (1) WO2007106662A2 (enExample)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014045390A1 (ja) * 2012-09-21 2014-03-27 ビー・エル・オートテック株式会社 工具交換装置
JP2014217909A (ja) * 2013-05-07 2014-11-20 ビー・エル・オートテック株式会社 工具交換装置用のマスター装置
JP2015171756A (ja) * 2014-03-11 2015-10-01 エロワ アーゲーＥｒｏｗａ Ａｇ マニピュレータ用の連結装置
JP2018176314A (ja) * 2017-04-06 2018-11-15 エスアールエンジニアリング株式会社 ロボットアームのカップリング装置
JPWO2022004528A1 (enExample) * 2020-07-01 2022-01-06

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US8132816B2 (en) * 2006-04-04 2012-03-13 Ati Industrial Automation, Inc. Electrically Actuated Robotic Tool Changer
US8209840B2 (en) * 2006-04-04 2012-07-03 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer
US8500132B2 (en) * 2006-04-04 2013-08-06 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with one-way clutch and dual-button handle mechanism
US8601667B2 (en) * 2006-04-04 2013-12-10 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with actuation mechanism
US8152173B2 (en) * 2006-08-04 2012-04-10 Ingersoll Machine Tools, Inc. Clamping apparatus and method
CN101524845B (zh) * 2008-03-05 2013-01-09 鸿富锦精密工业（深圳）有限公司 夹持机构
CN101543993B (zh) * 2008-03-25 2012-03-28 鸿富锦精密工业（深圳）有限公司 机械手
CN101607398B (zh) * 2008-06-18 2012-06-20 鸿富锦精密工业（深圳）有限公司 夹具更换装置
US9724830B2 (en) * 2008-09-05 2017-08-08 Ati Industrial Automation, Inc. Manual robotic tool changer with rolling members
US8533930B2 (en) * 2008-09-05 2013-09-17 Ati Industrial Automation, Inc. Manual robotic tool changer having rapid coupling mechanism
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USD621859S1 (en) * 2010-05-14 2010-08-17 Tormach Llc Tool changer fork
ITTV20120129A1 (it) * 2012-07-11 2014-01-12 Almerino Canuto Dispositivo di compensazione del disassamento in sistemi di bloccaggio automatici
US9151343B2 (en) * 2013-03-14 2015-10-06 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic device
GB201411392D0 (en) * 2014-06-26 2014-08-13 Black & Decker Inc A tool holder
WO2016028388A1 (en) 2014-08-20 2016-02-25 Ati Industrial Automation, Inc. Robotic tool changer with tool stand decouple power supply
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
JP6475979B2 (ja) * 2014-12-26 2019-02-27 ニッタ株式会社 係合部品、雌型部材、及び工具交換装置
US9677582B2 (en) * 2015-01-09 2017-06-13 Northrop Grumman Systems Corporation Fluid-actuated fastening device
US9981391B2 (en) 2015-02-16 2018-05-29 Norgren Automation Solutions, Llc Quick disconnect apparatus for modular tooling
WO2016133877A2 (en) 2015-02-16 2016-08-25 Norgren Automation Solutions, Llc Quick disconnect apparatus for modular tooling
EP4552599A3 (en) 2015-02-20 2025-07-16 Stryker Corporation Sterile barrier assembly for coupling surgical components therethrough
TWI593525B (zh) * 2015-06-02 2017-08-01 Hiwin Tech Corp Mechanical replacement device and method for exchanging end effectors
JP6030718B1 (ja) 2015-07-03 2016-11-24 上銀科技股▲分▼有限公司 末端効果器を交換する機械式交換装置
US10286566B2 (en) * 2015-10-06 2019-05-14 Oceaneering International, Inc. Manipulator end effector
DE102016222287A1 (de) 2015-11-12 2017-05-18 Ati Industrial Automation, Inc. Sicherer roboterwerkzeugwechsler
ITUB20155846A1 (it) * 2015-11-24 2017-05-24 Gimatic S R L Dispositivo cambia utensile
US10335957B2 (en) * 2017-04-25 2019-07-02 Ati Industrial Automation, Inc. Magnetically activated tool changer
USD898879S1 (en) 2017-05-01 2020-10-13 Norgren Automation Solutions, Llc Modular tooling coupler
CN107081781A (zh) * 2017-06-28 2017-08-22 深圳市恒拓高工业技术股份有限公司 一种工业机器人末端工具的快速更换装置及其更换方法
ES2975737T3 (es) * 2017-12-14 2024-07-12 Onrobot As Dispositivo de agarre
US10773817B1 (en) 2018-03-08 2020-09-15 Northrop Grumman Systems Corporation Bi-directional flow ram air system for an aircraft
CN119112366A (zh) 2018-12-04 2024-12-13 马科外科公司 带有用来指示安装组件安装条件的照明装置的机器人外科系统
WO2021194737A1 (en) * 2020-03-23 2021-09-30 Milwaukee Electric Tool Corporation Rotary hammer
US20210370531A1 (en) 2020-05-28 2021-12-02 Ati Industrial Automation, Inc. Pin, Toroidal Spring Socket, and High-Current Connector for a Robotic Device
US11850733B2 (en) 2020-06-11 2023-12-26 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay
US12090638B2 (en) 2020-08-25 2024-09-17 Ati Industrial Automation, Inc. Robotic tool changer having debris passages for channeling debris from the ball-locking mechanism
US11691294B2 (en) * 2020-09-22 2023-07-04 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional stiffness
RU2743389C1 (ru) * 2020-10-22 2021-02-17 Федеральное государственное автономное образовательное учреждение высшего образования «Дальневосточный федеральный университет» (ДВФУ) Узел автоматического крепления съемного элемента
JP7608959B2 (ja) * 2021-04-22 2025-01-07 Smc株式会社 エンドエフェクタ交換装置
FR3122594B1 (fr) 2021-05-04 2023-05-26 Commissariat Energie Atomique Interface porte-outil de bras robotisé à décalage angulaire
US11931663B2 (en) 2021-07-30 2024-03-19 Tait Towers Manufacturing, LLC Active damping system for suspended ride system
US11806634B2 (en) 2021-07-30 2023-11-07 Tait Towers Manufacturing, LLC Connection system for suspended loads for ride systems
US11856898B2 (en) 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
US11963733B2 (en) 2021-12-01 2024-04-23 Nuvasive Inc. Connector assemblies for connecting a robotic arm with a medical end effector
JP7655228B2 (ja) * 2022-01-07 2025-04-02 Smc株式会社 エンドエフェクタ交換装置
US20230240793A1 (en) * 2022-02-02 2023-08-03 Mako Surgical Corp. Quick-Connect Mounting System For Surgical Components
US20240342927A1 (en) 2023-04-17 2024-10-17 Ati Industrial Automation, Inc. Manual Robotic Tool Changer with Generally Opposed Decoupling Actuation Force and Safety Latch Actuation Force
WO2025166444A1 (en) 2024-02-08 2025-08-14 4Ag Robotics Inc. Machine-learning-enabled tool changer for mushroom crop management system
US12377567B1 (en) 2024-11-22 2025-08-05 4Ag Robotics Inc. Mushroom trimming and sorting system

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014045390A1 (ja) * 2012-09-21 2014-03-27 ビー・エル・オートテック株式会社 工具交換装置
JPWO2014045390A1 (ja) * 2012-09-21 2016-08-18 ビー・エル・オートテック株式会社 工具交換装置
JP2014217909A (ja) * 2013-05-07 2014-11-20 ビー・エル・オートテック株式会社 工具交換装置用のマスター装置
JP2015171756A (ja) * 2014-03-11 2015-10-01 エロワ アーゲーＥｒｏｗａ Ａｇ マニピュレータ用の連結装置
JP2018176314A (ja) * 2017-04-06 2018-11-15 エスアールエンジニアリング株式会社 ロボットアームのカップリング装置
JPWO2022004528A1 (enExample) * 2020-07-01 2022-01-06
WO2022004528A1 (ja) * 2020-07-01 2022-01-06 ビー・エル・オートテック株式会社 ツール交換装置
JP7159506B2 (ja) 2020-07-01 2022-10-24 ビー・エル・オートテック株式会社 ツール交換装置

Also Published As

Publication number Publication date
US8005570B2 (en) 2011-08-23
EP1993764A4 (en) 2009-04-15
EP1993764A2 (en) 2008-11-26
EP1993764B1 (en) 2016-10-26
EP1993764B8 (en) 2017-01-04
WO2007106662A2 (en) 2007-09-20
WO2007106662A3 (en) 2008-05-02
US20070235949A1 (en) 2007-10-11
KR20090008192A (ko) 2009-01-21

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