JP5193318B2 - ロボット工具 - Google Patents
ロボット工具 Download PDFInfo
- Publication number
- JP5193318B2 JP5193318B2 JP2011007489A JP2011007489A JP5193318B2 JP 5193318 B2 JP5193318 B2 JP 5193318B2 JP 2011007489 A JP2011007489 A JP 2011007489A JP 2011007489 A JP2011007489 A JP 2011007489A JP 5193318 B2 JP5193318 B2 JP 5193318B2
- Authority
- JP
- Japan
- Prior art keywords
- plug
- robot tool
- robot
- push rod
- magazine
- 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.)
- Expired - Fee Related
Links
Images
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
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53061—Responsive to work or work-related machine element
- Y10T29/53078—Responsive to work or work-related machine element with means to fasten by frictional fitting
-
- 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
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53313—Means to interrelatedly feed plural work parts from plural sources without manual intervention
- Y10T29/53383—Means to interrelatedly feed plural work parts from plural sources without manual intervention and means to fasten work parts together
- Y10T29/53396—Means to interrelatedly feed plural work parts from plural sources without manual intervention and means to fasten work parts together by friction fit
-
- 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
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53478—Means to assemble or disassemble with magazine supply
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Description
2 ロボット取り付け領域
18 プラグ
42 押し棒
Claims (9)
- 工業生産においてプラグ(18)を取り付けるためのロボット工具であって、前記ロボット工具(1)を産業用ロボットに取り付けることができるロボット取り付け領域(2)を有するロボット工具において、前後に移動させることができ、それを用いてプラグ(18)を取り上げ、進めることができる押し棒(42)を有し、
前記押し棒(42)が、旋回ユニット(30)の旋回保持器(32)に取り付けられ、この旋回ユニットは、前記押し棒(42)が、プラグ取り上げ位置とプラグ取り付け位置との間で旋回するのを可能にすることを特徴とするロボット工具。 - プラグ(18)を前記押し棒(42)の自由端(44)に保持するために、前記押し棒(42)の前記自由端(44)で真空に引くことができる真空供給部が前記押し棒(42)内に組み込まれていることを特徴とする、請求項1に記載のロボット工具。
- 前記押し棒(42)は、進行シリンダ(40)を用いて伸縮できることを特徴とする、請求項1または請求項2に記載のロボット工具。
- 前記旋回保持器(32)は、前記プラグ取り上げ位置と前記プラグ取り付け位置との間を180°旋回できることを特徴とする、請求項1〜3のいずれか一項に記載のロボット工具。
- 前記押し棒(42)は、前記旋回ユニット(30)を用いて、前記産業用ロボットに留められたプラグマガジンの近くのそのプラグ取り上げ位置に配置できることを特徴とする、請求項1〜4のいずれか一項に記載のロボット工具。
- 前記プラグマガジンは、必要に応じて、前記押し棒(42)を用いて個別に取り上げることができる様々なプラグを含むタレットマガジンとして構成されることを特徴とする、請求項5に記載のロボット工具。
- 前記プラグマガジンは、必要に応じて、前記押し棒(42)を用いて個別に取り上げることができる多数のプラグを含む管状マガジン(10)として構成されることを特徴とする、請求項5に記載のロボット工具。
- 前後に移動して、前記押し棒(42)を用いて個々のプラグを前記管状マガジン(10)から取り出すのを可能にするロック要素(22)を備えた少なくとも1つのロックシリンダ(20)が、前記管状マガジン(10)の取り出し領域に配置されることを特徴とする、請求項7に記載のロボット工具。
- 前記旋回ユニット(30)の旋回軸(51)は、前記管状マガジン(10)の長手方向軸(52)と前記押し棒(42)の進行運動軸(53)との間の中間で、それらに対して垂直に配置されることを特徴とする、請求項7または請求項8に記載のロボット工具。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010005798.3 | 2010-01-27 | ||
DE102010005798.3A DE102010005798B4 (de) | 2010-01-27 | 2010-01-27 | Roboterwerkzeug |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011152635A JP2011152635A (ja) | 2011-08-11 |
JP5193318B2 true JP5193318B2 (ja) | 2013-05-08 |
Family
ID=44309087
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011007489A Expired - Fee Related JP5193318B2 (ja) | 2010-01-27 | 2011-01-18 | ロボット工具 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8850696B2 (ja) |
EP (1) | EP2368673A3 (ja) |
JP (1) | JP5193318B2 (ja) |
DE (1) | DE102010005798B4 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017100268A (ja) * | 2015-12-04 | 2017-06-08 | トヨタ車体株式会社 | 封止部材供給用マガジン及び封止部材供給装置 |
JP7035162B2 (ja) | 2018-02-22 | 2022-03-14 | 中央精機株式会社 | ホイール保持装置 |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102014004045B4 (de) | 2014-03-21 | 2021-10-07 | Kuka Deutschland Gmbh | Roboterwerkzeug und Verfahren zum Montieren von Stopfen, insbesondere für Kraftwagen |
DE102014004046A1 (de) | 2014-03-21 | 2014-09-18 | Daimler Ag | Verfahren zum Montieren eines Stopfens in eine Öffnung eines Bauteils, insbesondere eines Kraftwagens |
DE102014004043A1 (de) | 2014-03-21 | 2014-09-25 | Daimler Ag | Verfahren zum Montieren eines Stopfens in eine Öffnung eines Bauteils, insbesondere eines Kraftwagens |
DE202014102558U1 (de) | 2014-06-02 | 2015-09-03 | Daimler Ag | Stopfensetzwerkzeug |
DE202014102559U1 (de) | 2014-06-02 | 2015-09-03 | Kuka Systems Gmbh | Stopfensetzeinrichtung |
DE102014007831A1 (de) | 2014-06-02 | 2014-12-04 | Daimler Ag | Verfahren zum Positionieren eines Elements in einer Öffnung oder an einer Erhebung eines Bauteils |
USD763337S1 (en) * | 2014-07-31 | 2016-08-09 | Abb Gomtec Gmbh | Robotic arm component |
US9656391B2 (en) | 2014-08-20 | 2017-05-23 | Bayerische Motoren Werke Aktiengesellschaft | Robotic end effector for plug installation |
USD752668S1 (en) * | 2014-09-16 | 2016-03-29 | Gripa Holding Aps | Mount system for robotic tooling |
USD761339S1 (en) * | 2015-03-17 | 2016-07-12 | Rethink Robotics, Inc. | Compliant manufacturing robot |
DE102015207847A1 (de) * | 2015-04-29 | 2016-11-03 | Bayerische Motoren Werke Aktiengesellschaft | Roboterwerkzeug zum Setzen von Stopfen mit Schrägmotor |
DE102015207848A1 (de) * | 2015-04-29 | 2016-11-03 | Bayerische Motoren Werke Aktiengesellschaft | Roboterwerkzeug zum Setzen von Stopfen |
USD756431S1 (en) * | 2015-05-19 | 2016-05-17 | F. Richard Langner | Robot accessory mount |
DE202015102826U1 (de) | 2015-06-01 | 2016-09-02 | Kuka Systems Gmbh | Stopfensetzwerkzeug |
DE202015102825U1 (de) | 2015-06-01 | 2016-09-02 | Kuka Systems Gmbh | Stopfenfügewerkzeug |
DE102015211543B4 (de) | 2015-06-23 | 2022-10-06 | Bayerische Motoren Werke Aktiengesellschaft | Handwerkzeug zum Setzen von Stopfen mit Handabzug |
DE102015008590A1 (de) | 2015-06-25 | 2017-01-26 | Faude Automatisierungstechnik Gmbh | Zuführsystem, Schlauch, Verfahren zum Zuführen von Verschlüssen mittels eines Zuführsystems |
DE202015105472U1 (de) | 2015-10-15 | 2017-01-17 | Kuka Systems Gmbh | Stopfensetzwerkzeug |
DE102015014221B4 (de) | 2015-11-04 | 2017-06-14 | Daimler Ag | Roboterwerkzeug und Verfahren zum Montieren von Stopfen, insbesondere für Kraftwagen |
CN105397822B (zh) * | 2015-12-17 | 2018-04-20 | 浙江畅尔智能装备股份有限公司 | 一种末端夹持器 |
DE102016002290B4 (de) | 2016-02-25 | 2017-11-23 | Daimler Ag | Roboterwerkzeug und Verfahren zum Montieren von Stopfen, insbesondere für Kraftwagen |
DE102016215439A1 (de) * | 2016-08-18 | 2018-02-22 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und Verfahren zum Einbringen von Stopfen in Öffnungen wenigstens eines Bauteils, insbesondere für zumindest ein Kraftfahrzeug |
US10632971B2 (en) * | 2016-10-31 | 2020-04-28 | City Pattern and Foundry | Grommet installer |
EP3476527A1 (en) | 2017-10-25 | 2019-05-01 | Newfrey LLC | Magazine unit |
EP3476528A1 (en) | 2017-10-25 | 2019-05-01 | Newfrey LLC | Setting unit |
EP3476529A1 (en) | 2017-10-25 | 2019-05-01 | Newfrey LLC | Delivery unit |
WO2019081150A1 (en) | 2017-10-25 | 2019-05-02 | Newfrey Llc | DEVICE FOR THE INSTALLATION OF SEALING PLUGS |
EP3476526A1 (en) | 2017-10-25 | 2019-05-01 | Newfrey LLC | Device for setting sealing plugs |
US10639796B2 (en) * | 2017-11-03 | 2020-05-05 | Fanuc America Corporation | Vehicle e-coat drain plug insertion tool |
DE102018106791A1 (de) * | 2018-03-22 | 2019-09-26 | Volkswagen Aktiengesellschaft | Montageverfahren zum Setzen eines Stopfens an einer Aufnahmestelle eines Werkstücks mittels eines Stopfensetzwerkzeug umfassend eine Setz- und Haltehülse |
DE102018205713B4 (de) * | 2018-04-16 | 2023-03-09 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung zur Montage von Verschlussstopfen |
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EP4163051B1 (en) | 2021-10-08 | 2024-04-17 | Newfrey LLC | Device and method for setting fasteners in openings in a vehicle body component |
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2010
- 2010-01-27 DE DE102010005798.3A patent/DE102010005798B4/de not_active Expired - Fee Related
- 2010-10-18 EP EP10013738.9A patent/EP2368673A3/de not_active Withdrawn
-
2011
- 2011-01-18 JP JP2011007489A patent/JP5193318B2/ja not_active Expired - Fee Related
- 2011-01-20 US US13/009,954 patent/US8850696B2/en active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017100268A (ja) * | 2015-12-04 | 2017-06-08 | トヨタ車体株式会社 | 封止部材供給用マガジン及び封止部材供給装置 |
WO2017094324A1 (ja) * | 2015-12-04 | 2017-06-08 | トヨタ車体株式会社 | 封止部材供給用マガジン及び封止部材供給装置 |
JP7035162B2 (ja) | 2018-02-22 | 2022-03-14 | 中央精機株式会社 | ホイール保持装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2368673A2 (de) | 2011-09-28 |
EP2368673A3 (de) | 2017-11-08 |
DE102010005798A1 (de) | 2011-07-28 |
JP2011152635A (ja) | 2011-08-11 |
DE102010005798B4 (de) | 2019-10-31 |
US20110182708A1 (en) | 2011-07-28 |
US8850696B2 (en) | 2014-10-07 |
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