JP2013538698A - マニピュレータのための工具マガジン - Google Patents
マニピュレータのための工具マガジン Download PDFInfo
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- JP2013538698A JP2013538698A JP2013526273A JP2013526273A JP2013538698A JP 2013538698 A JP2013538698 A JP 2013538698A JP 2013526273 A JP2013526273 A JP 2013526273A JP 2013526273 A JP2013526273 A JP 2013526273A JP 2013538698 A JP2013538698 A JP 2013538698A
- Authority
- JP
- Japan
- Prior art keywords
- tool magazine
- manipulator
- tool
- protective
- operator
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/14—Particular arrangements for handling and holding in place complete dies
- B21D37/145—Die storage magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
- B21D5/0254—Tool exchanging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
- B23Q11/0085—Safety devices protecting the operator, e.g. against accident or noise by determining whether the machine tool is in a dangerous configuration
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
- B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
-
- 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
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- 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
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q3/15533—Storage devices; Drive mechanisms therefor combined with manual tool transfers
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- 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
- B23Q3/15546—Devices for recognizing tools in a storage device, e.g. coding devices
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- 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
- B23Q3/1556—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools
- B23Q3/15573—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- 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
- B23Q7/046—Handling workpieces or tools
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- 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
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- 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
-
- 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
- B23Q2003/155411—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper pivotable
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/49—Protective device
-
- 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
- Y10T483/00—Tool changing
- Y10T483/11—Tool changing with safety means
- Y10T483/115—Guard
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- 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
- Y10T483/00—Tool changing
- Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
- Y10T483/132—Responsive to tool identifying information
- Y10T483/134—Identifying information on tool or tool holder
-
- 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
- Y10T483/00—Tool changing
- Y10T483/16—Tool changing with means to transfer work
-
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1729—Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.]
- Y10T483/1731—Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.] including matrix
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- 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
- Y10T483/00—Tool changing
- Y10T483/18—Tool transfer to or from matrix
Abstract
【選択図】図1
Description
2 工具保持固定具
3 工具
4 マニピュレータ
5 生産装置
6 曲げ機械
7 準備領域
8 作業空間
9 第1の側
10 第1アクセス開口
11 準備平面
12 危険領域
13 オペレータ
14 占有領域
15 第2の側
16 第2アクセス開口
17 第1保護装置
18 第2保護装置
19 保護壁エレメント
20 保護装置
21 保護壁エレメント
22 保護装置
23 寸法
24 寸法
25 内側の広がり
26 内側の広がり
27 矢印
28 光バリア
29 光グリッド
30 制御装置
31 位置決めセンサ
32 位置センサ
33 ロック装置
34 ロック装置
35 センサ・エレメント
36 情報担体
37 信号装置
38 保護装置
39 保護柵
40 保護壁
41 オーバラップ領域
42 カップリング・エレメント
43 ガイド
44 安全距離
45 安全距離
46 曲げ加工セル
Claims (15)
- 準備領域(7)内、具体的には事実上鉛直方向の準備平面(11)内に分配された状態で配置された複数の工具保持固定具(2)を有する、マニピュレータ(4)のための工具マガジン(1)であって、前記工具マガジン(1)は前記準備領域(7)の第1の側(9)には、マニピュレータ(4)に面する第1アクセス開口(10)を有し、前記準備領域(7)の他方の側(15)には、オペレータ(13)に面する第2アクセス開口(16)を有しており、前記第1アクセス開口(10)は第1保護装置(17)に対応配置され、前記第2アクセス開口(16)は第2保護装置(18)に対応配置されている、工具マガジン(1)。
- 前記第1保護装置(17)と前記第2保護装置(18)とは互いにカップリングされていて、交互に活性化又は非活性化することができる、請求項1に記載の工具マガジン(1)。
- 前記保護装置(17,18)の保護寸法(23,24)は、それぞれ対応配置された前記アクセス開口(10,16)の内側の広がり(25,26)よりも大きい、請求項1又は2に記載の工具マガジン(1)。
- 少なくとも1つの保護装置(17,18)が、運動可能に設けられた、少なくとも1つの機械的分離型保護壁エレメント(19,21)によって形成されている、請求項1から3のいずれか1項に記載の工具マガジン(1)。
- 前記保護壁エレメント(19,21)は、前記マニピュレータ(4)に作用する制御装置(30)に接続された位置センサ(31,32)と協働する、請求項4に記載の工具マガジン(1)。
- 前記保護壁エレメント(19,21)はロック装置(33,34)を備えており、前記ロック装置は制御技術によって他方の保護装置(17,18)及び前記マニピュレータ(4)の少なくともいずれか一方に作用する制御装置(30)にカップリングされている、請求項4又は5に記載の工具マガジン(1)。
- 前記保護壁エレメント(19,21)がシースルー材料から形成されている、請求項4から6のいずれか1項に記載の工具マガジン(1)。
- 前記保護装置(17,18)は、運動可能に取り付けられて機械的にカップリングされた保護壁エレメント(19,21)によって形成されている、請求項4から7のいずれか1項に記載の工具マガジン(1)。
- 前記保護壁エレメント(19,21)は、互いに平行に互いにオフセットした状態で配置されていて、互いに固く結合された状態で、前記準備領域(7)に対して平行に延びるガイド(43)に沿って変位することができる、請求項8に記載の工具マガジン(1)。
- 少なくとも1つの保護装置(17,18)は、接近機能、具体的には光バリア(28)又は光グリッド(29)を有する無接触作業式保護装置(20,22)によって形成されており、制御技術によって他方の保護装置(18,17)及び前記マニピュレータ(4)の少なくともいずれか一方に作用する制御装置(30)にカップリングされている、請求項1から7のいずれか1項に記載の工具マガジン(1)。
- 前記無接触作業式保護装置(20,22)は、前記工具マガジン(1)の前記対応配置されたアクセス開口(10,16)から安全距離(44,45)を置いて配置されている、請求項10に記載の工具マガジン(1)。
- 前記マニピュレータ(4)に作用する制御装置(30)に接続された信号装置(37)が設けられている、請求項1から11のいずれか1項に記載の工具マガジン(1)。
- 前記工具保持固定具(2)は、工具位置及び情報担体(36)に含まれる工具情報の少なくともいずれか一方を検出するためのセンサ・エレメント(35)を備えている、請求項1から12のいずれか1項に記載の工具マガジン(1)。
- マニピュレータ(4)の作業空間(8)によって使用される危険領域(12)を、オペレータ(13)によって占有される領域(14)から区切るための偏平な保護装置(38)、具体的には保護柵(39)又は保護壁(40)であって、前記保護装置(38)の一部が、請求項1から13のいずれか1項に記載の工具マガジン(1)によって形成されている、偏平な保護装置(38)。
- 作業空間(8)を備えたマニピュレータ(4)と、前記作業空間(8)内に配置された曲げ機械(6)と、前記作業空間(8)を保護するための偏平な保護装置(38)とを含む曲げ加工セルであって、前記保護装置(38)が請求項14に記載の構成を有する、曲げ加工セル。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT0146610A AT509708B1 (de) | 2010-09-02 | 2010-09-02 | Werkzeugmagazin für einen manipulator |
ATA1466/2010 | 2010-09-02 | ||
PCT/AT2011/050008 WO2012027770A2 (de) | 2010-09-02 | 2011-08-31 | Werkzeugmagazin für einen manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013538698A true JP2013538698A (ja) | 2013-10-17 |
JP5960697B2 JP5960697B2 (ja) | 2016-08-02 |
Family
ID=44898310
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013526273A Active JP5960697B2 (ja) | 2010-09-02 | 2011-08-31 | マニピュレータのための工具マガジン |
Country Status (6)
Country | Link |
---|---|
US (1) | US10189128B2 (ja) |
EP (1) | EP2611557B1 (ja) |
JP (1) | JP5960697B2 (ja) |
AT (1) | AT509708B1 (ja) |
ES (1) | ES2523283T3 (ja) |
WO (1) | WO2012027770A2 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015120182A (ja) * | 2013-12-24 | 2015-07-02 | 株式会社アマダホールディングス | 金型収納ラック |
WO2016031324A1 (ja) * | 2014-08-26 | 2016-03-03 | Dmg森精機株式会社 | 工作機械 |
JP2017516664A (ja) * | 2014-05-23 | 2017-06-22 | トルンプ マシーネン オーストリア ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディトゲゼルシャフト | プレス成形機用の金型交換装置 |
JP6563622B1 (ja) * | 2018-09-06 | 2019-08-21 | ヤマザキマザック株式会社 | 工具保管装置、工作機械及び複合加工機械 |
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JP5960697B2 (ja) | 2016-08-02 |
WO2012027770A3 (de) | 2012-04-26 |
US20130203572A1 (en) | 2013-08-08 |
US10189128B2 (en) | 2019-01-29 |
EP2611557A2 (de) | 2013-07-10 |
WO2012027770A2 (de) | 2012-03-08 |
EP2611557B1 (de) | 2014-08-20 |
AT509708B1 (de) | 2011-11-15 |
AT509708A4 (de) | 2011-11-15 |
ES2523283T3 (es) | 2014-11-24 |
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