JPS6317599B2 - - Google Patents
Info
- Publication number
- JPS6317599B2 JPS6317599B2 JP59123568A JP12356884A JPS6317599B2 JP S6317599 B2 JPS6317599 B2 JP S6317599B2 JP 59123568 A JP59123568 A JP 59123568A JP 12356884 A JP12356884 A JP 12356884A JP S6317599 B2 JPS6317599 B2 JP S6317599B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- hollow cylinder
- tool holder
- tool changer
- plate
- 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
Links
- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 239000004020 conductor Substances 0.000 claims description 12
- 230000013011 mating Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 6
- 239000012530 fluid Substances 0.000 abstract description 2
- 230000000295 complement effect Effects 0.000 abstract 1
- 238000000926 separation method Methods 0.000 abstract 1
- 238000003466 welding Methods 0.000 description 12
- 238000003754 machining Methods 0.000 description 10
- 230000035939 shock Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/0064—Portable machines cooperating with guide means not supported by the workpiece during working
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/318—Supporting devices for electrode holders
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0063—Connecting non-slidable parts of machine tools to each other
-
- 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
-
- 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
- Y10S483/00—Tool changing
- Y10S483/901—Robot end effectors
-
- 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
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5104—Type of machine
- Y10T29/5105—Drill press
- Y10T29/5107—Drilling and other
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Manipulator (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Resistance Welding (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT67130/84A IT1179967B (it) | 1984-02-13 | 1984-02-13 | Meccanismo per il cambio automatico di utensili su robot industriali |
IT67130-A/84 | 1984-02-13 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60172483A JPS60172483A (ja) | 1985-09-05 |
JPS6317599B2 true JPS6317599B2 (US20020095090A1-20020718-M00002.png) | 1988-04-14 |
Family
ID=11299838
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59123568A Granted JPS60172483A (ja) | 1984-02-13 | 1984-06-15 | 産業ロボツト用自動工具交換装置 |
Country Status (9)
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2587930B1 (fr) * | 1985-05-30 | 1989-11-10 | Steelweld France | Dispositif de reception et de stockage d'outils dans des lignes de montage |
JPH0221191Y2 (US20020095090A1-20020718-M00002.png) * | 1985-07-12 | 1990-06-07 | ||
US4709465A (en) * | 1985-10-04 | 1987-12-01 | The Ingersoll Milling Machine Company | Interchangeable spindle-head milling system |
US4660274A (en) * | 1985-11-29 | 1987-04-28 | Goumas Peter G | Robot tool changing apparatus |
US4784421A (en) * | 1986-04-18 | 1988-11-15 | Mecanotron Corporation | Interchangeable tool mounting mechanism for robots |
IT1193450B (it) * | 1986-07-16 | 1988-06-22 | Comau Spa | Dispositivo per il cambio automatico di attrezzi di robot industriali |
GB2192855A (en) * | 1986-07-21 | 1988-01-27 | British Nuclear Fuels Plc | Tool-change coupling for robots |
US5010228A (en) * | 1987-12-28 | 1991-04-23 | Obara Corporation | Tool changer for welding robot |
US4883939A (en) * | 1988-06-21 | 1989-11-28 | Automatic Tool Control And Management Systems, Inc. | Automatic tool changer for workpiece processing machines |
CA1321627C (en) * | 1988-06-22 | 1993-08-24 | Naoteru Katsura | Method and apparatus for supplying electric power to resistance welding gun |
US4996753A (en) * | 1988-09-30 | 1991-03-05 | The Boeing Company | Robot end effector exchange system |
EP0520122A1 (en) * | 1991-06-25 | 1992-12-30 | OFFICINE MECCANICHE VARINELLI S.p.A. | Pot-broach vertical broaching machine |
US5372567A (en) * | 1993-02-26 | 1994-12-13 | Robotics And Automation Corporation | Robotic arm tool head selection and storage rack |
US5791032A (en) * | 1997-05-15 | 1998-08-11 | Eastman Kodak Company | Robotic turret tool |
ITTO980462A1 (it) * | 1998-05-29 | 1999-11-29 | Brown & Sharpe Dea Spa | Gruppo di collegamento di un attrezzo di misura ad una testa di misura atta ad essere movimentata da un robot di misura |
ITTO980460A1 (it) * | 1998-05-29 | 1999-11-29 | Brown & Sharpe Dea Spa | Gruppo di collegamento di una testa di misura ad un robot di misura |
ITTO20030726A1 (it) * | 2003-09-23 | 2005-03-24 | Comau Spa | Procedimento ed impianto per la graffatura di pezzi di lamiera |
US7634861B2 (en) * | 2004-05-21 | 2009-12-22 | Nike, Inc. | Footwear with longitudinally split midsole for dynamic fit adjustment |
FR2907698B1 (fr) * | 2006-10-26 | 2009-07-03 | Aro Soc Par Actions Simplifiee | Gamme de pinces a enserrer des toles a batis semblables,et de preference identiques,et pince d'une telle gamme. |
US20080119339A1 (en) * | 2006-11-16 | 2008-05-22 | Oliver Michael J | Quick change end of arm tool attachment |
AT9744U3 (de) * | 2007-10-17 | 2008-11-15 | Perndorfer Maschb Kg | Vorrichtung zum manipulieren eines werkzeuges |
DE102009019783A1 (de) * | 2008-07-30 | 2010-02-04 | Sms Siemag Aktiengesellschaft | Kupplung mit elektrischen Kontakten für ein Öl-Luft-Gemisch |
US8992113B2 (en) * | 2009-06-08 | 2015-03-31 | Re2, Inc. | Robust manual connector for robotic arm end effector |
US8382177B2 (en) * | 2009-06-11 | 2013-02-26 | Re2, Inc. | Quick-change finger for robotic gripper |
US10076844B2 (en) | 2009-08-10 | 2018-09-18 | Re2, Inc. | Automated tool change assembly for robotic arm |
DE202012100384U1 (de) * | 2012-02-06 | 2013-05-10 | Kuka Systems Gmbh | Kupplungseinrichtung |
US9616517B2 (en) | 2013-06-25 | 2017-04-11 | Honda Motor Co., Ltd. | Removable welding tip assembly |
US11097390B2 (en) * | 2014-08-20 | 2021-08-24 | Ati Industrial Automation, Inc. | Pneumatic safety interlock |
FR3053616A1 (fr) * | 2016-07-11 | 2018-01-12 | Peugeot Citroen Automobiles Sa | Systeme d’accouplement des outils pour un porte-outil d’une machine automatisee |
JP6918535B2 (ja) * | 2017-03-22 | 2021-08-11 | キヤノン株式会社 | ロボット装置、交換ツール、ロボットアーム、ロボット装置を用いた物品の製造方法、ロボット装置の制御方法、制御プログラムおよび記録媒体 |
DE102019118903A1 (de) * | 2019-07-12 | 2021-01-14 | Pi4_Robotics Gmbh | System und Verfahren zum Wechseln eines Endeffektors an einem Roboter |
DE102020122177A1 (de) * | 2019-08-26 | 2021-03-04 | Ati Industrial Automation, Inc. | Pneumatische sicherheitsverriegelung |
CN114406869B (zh) * | 2022-01-07 | 2022-12-20 | 上海工程技术大学 | 一种具备双刀具切换功能的机械臂末端执行器 |
CN114536071B (zh) * | 2022-04-02 | 2023-01-24 | 意特利(滁州)智能数控科技有限公司 | 一种换刀机构 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5486163A (en) * | 1977-12-07 | 1979-07-09 | Renault | Production line robot |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2447785A1 (fr) * | 1979-02-05 | 1980-08-29 | Verboom & Durouchard | Dispositif de liaison entre un bras et une pince de manipulateur et manipulateur comprenant un tel dispositif |
US4281447A (en) * | 1979-03-01 | 1981-08-04 | Mcdonnell Douglas Corporation | Detachable tool interface system for a robot |
EP0021249A1 (de) * | 1979-06-21 | 1981-01-07 | Bühler AG | Kupplung für die Plastifizierschnecke einer Spritzgiessmaschine zur Verarbeitung von Kunststoff |
IT1129104B (it) * | 1980-06-26 | 1986-06-04 | Comau Spa | Dispositivo automatico per cambio pinza saldante elettrica azionato dal braccio di un manipolatore programmabile |
-
1984
- 1984-02-13 IT IT67130/84A patent/IT1179967B/it active
- 1984-05-22 US US06/612,912 patent/US4551903A/en not_active Expired - Fee Related
- 1984-05-29 CA CA000455330A patent/CA1235717A/en not_active Expired
- 1984-06-06 ES ES533177A patent/ES533177A0/es active Granted
- 1984-06-12 DE DE8484200820T patent/DE3477149D1/de not_active Expired
- 1984-06-12 EP EP84200820A patent/EP0151819B1/en not_active Expired
- 1984-06-12 DE DE198484200820T patent/DE151819T1/de active Pending
- 1984-06-12 AT AT84200820T patent/ATE41344T1/de not_active IP Right Cessation
- 1984-06-15 BR BR8402921A patent/BR8402921A/pt not_active IP Right Cessation
- 1984-06-15 JP JP59123568A patent/JPS60172483A/ja active Granted
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5486163A (en) * | 1977-12-07 | 1979-07-09 | Renault | Production line robot |
Also Published As
Publication number | Publication date |
---|---|
EP0151819B1 (en) | 1989-03-15 |
BR8402921A (pt) | 1986-01-14 |
JPS60172483A (ja) | 1985-09-05 |
DE3477149D1 (en) | 1989-04-20 |
DE151819T1 (de) | 1986-02-13 |
ATE41344T1 (de) | 1989-04-15 |
CA1235717A (en) | 1988-04-26 |
US4551903A (en) | 1985-11-12 |
ES8506489A1 (es) | 1985-08-01 |
IT8467130A0 (it) | 1984-02-13 |
EP0151819A2 (en) | 1985-08-21 |
EP0151819A3 (en) | 1985-11-06 |
IT1179967B (it) | 1987-09-23 |
ES533177A0 (es) | 1985-08-01 |
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