KR100191238B1 - 로보트용 공구 교환장치 - Google Patents

로보트용 공구 교환장치 Download PDF

Info

Publication number
KR100191238B1
KR100191238B1 KR1019910011303A KR910011303A KR100191238B1 KR 100191238 B1 KR100191238 B1 KR 100191238B1 KR 1019910011303 A KR1019910011303 A KR 1019910011303A KR 910011303 A KR910011303 A KR 910011303A KR 100191238 B1 KR100191238 B1 KR 100191238B1
Authority
KR
South Korea
Prior art keywords
piston
tool
clamp
clamping
robot
Prior art date
Application number
KR1019910011303A
Other languages
English (en)
Korean (ko)
Other versions
KR920002282A (ko
Inventor
도오루 나까고
Original Assignee
기쿠치 아사오
가부시키 가이샤 야스카와 덴끼 세이샤쿠쇼
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
Application filed by 기쿠치 아사오, 가부시키 가이샤 야스카와 덴끼 세이샤쿠쇼 filed Critical 기쿠치 아사오
Publication of KR920002282A publication Critical patent/KR920002282A/ko
Application granted granted Critical
Publication of KR100191238B1 publication Critical patent/KR100191238B1/ko

Links

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
    • B25J15/04—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
    • 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
    • B23Q5/58—Safety devices
    • 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
    • Y10T29/5178—Attachment

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
KR1019910011303A 1990-07-11 1991-07-04 로보트용 공구 교환장치 KR100191238B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP90-74171 1990-07-11
JP1990074171U JPH0748384Y2 (ja) 1990-07-11 1990-07-11 ロボット用工具交換装置

Publications (2)

Publication Number Publication Date
KR920002282A KR920002282A (ko) 1992-02-28
KR100191238B1 true KR100191238B1 (ko) 1999-06-15

Family

ID=13539446

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910011303A KR100191238B1 (ko) 1990-07-11 1991-07-04 로보트용 공구 교환장치

Country Status (6)

Country Link
US (1) US5083352A (US20020095090A1-20020718-M00002.png)
EP (1) EP0466027B1 (US20020095090A1-20020718-M00002.png)
JP (1) JPH0748384Y2 (US20020095090A1-20020718-M00002.png)
KR (1) KR100191238B1 (US20020095090A1-20020718-M00002.png)
CA (1) CA2046207A1 (US20020095090A1-20020718-M00002.png)
DE (1) DE69104917T2 (US20020095090A1-20020718-M00002.png)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180121035A (ko) * 2017-04-28 2018-11-07 재단법인대구경북과학기술원 로봇용 수동 툴 체인저
KR101917328B1 (ko) * 2017-04-28 2018-11-13 재단법인대구경북과학기술원 로봇용 자동 툴 체인저
KR20190129546A (ko) * 2018-05-11 2019-11-20 재단법인대구경북과학기술원 로봇용 툴 체인저

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
US5360249A (en) * 1991-09-13 1994-11-01 Refac Technology Development, Corporation Multifunctional end effectors
JP2527640Y2 (ja) * 1992-08-26 1997-03-05 川崎重工業株式会社 産業用ロボットの工具交換装置
US5664931A (en) * 1995-08-02 1997-09-09 R. A. Jones & Co., Inc. Edge lifting end effector
IT1299758B1 (it) * 1998-03-20 2000-04-04 Scaglia Spa Dispositivo per agganciare automaticamente un albero porta bobina ad un mandrino di una macchina
FR2781400B1 (fr) * 1998-07-27 2000-09-29 Genus Technologies Dispositif de centrage et de serrage, notamment de pieces pour carrosserie automobile
NO313003B1 (no) * 2000-05-19 2002-07-29 Knut Ove Steinhovden Oppdriftsutlösbar mekanisk kopling
JP3790759B2 (ja) * 2003-10-17 2006-06-28 ファナック株式会社 ロボットハンド及びハンドリングロボットシステム
DE102009003516A1 (de) 2009-02-23 2010-08-26 Krones Ag Automatische Greiferkopplung
DE102010000598A1 (de) 2010-03-01 2011-09-01 Krones Ag Koppelvorrichtung für mindestens ein Werkzeug eines Handhabungssystems der Lebensmittelindustrie
CN104081888B (zh) * 2012-01-20 2016-10-12 富士机械制造株式会社 元件安装机的安装头保持装置
JP5648862B2 (ja) * 2012-03-19 2015-01-07 株式会社安川電機 ロボットシステム及びロボットハンド爪保持機構
US10046465B2 (en) * 2013-06-06 2018-08-14 Seiko Epson Corporation Attaching and detaching device and robot
JP6604531B2 (ja) * 2015-03-26 2019-11-13 ニッタ株式会社 雄型部材及び工具交換装置
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
DE102019119657B4 (de) * 2019-07-19 2021-03-04 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Werkzeugwechsler für einen Roboter und Wechselsystem hierfür
DE102021133345A1 (de) 2021-12-15 2023-06-15 MATHEUS Industrie-Automation GmbH Kompaktes Greiferwechselsystem für Industrieroboter
CN115027771B (zh) * 2022-06-22 2023-06-02 江南大学 机器人末端执行器快换联结器、开箱和取货系统及其方法
DE102022118117A1 (de) 2022-07-20 2024-01-25 E. Winkemann Gmbh Vorrichtung zum Greifen eines Verschlussdeckels

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3734556A (en) * 1971-07-07 1973-05-22 Komatsu Seisakusko Kk Gripper device for industrial robots or the like
DE3151532A1 (de) * 1981-12-24 1983-07-14 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Anordnung zum automatischen wechsel von greifern
JPS58155193A (ja) * 1982-03-05 1983-09-14 富士通フアナツク株式会社 工業用ロボツトのハンド着脱装置
US4624043A (en) * 1982-09-29 1986-11-25 The Boeing Company Quick release tool holder for robots
JPS59175984A (ja) * 1983-03-22 1984-10-05 フアナツク株式会社 工業用ロボツトのハンド交換装置
DE3325921A1 (de) * 1983-07-19 1985-01-31 Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern Greifvorrichtung fuer industrieroboter
US4512709A (en) * 1983-07-25 1985-04-23 Cincinnati Milacron Inc. Robot toolchanger system
EP0154227B1 (en) * 1984-03-09 1989-11-02 Applied Robotics, Inc. Exchange system and method for connecting, and/or exchanging remote elements to a central control source
US4664588A (en) * 1984-03-09 1987-05-12 Applied Robotics Inc. Apparatus and method for connecting and exchanging remote manipulable elements to a central control source
US4627785A (en) * 1984-05-14 1986-12-09 Monforte Robotics, Inc. Exchangeable multi-function end effector tools
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
GB2202572B (en) * 1986-12-01 1990-09-19 British Aerospace Retaining device
US4852242A (en) * 1988-03-24 1989-08-01 Hewlett-Packard Company Tool coupling apparatus and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180121035A (ko) * 2017-04-28 2018-11-07 재단법인대구경북과학기술원 로봇용 수동 툴 체인저
KR101917328B1 (ko) * 2017-04-28 2018-11-13 재단법인대구경북과학기술원 로봇용 자동 툴 체인저
KR101917321B1 (ko) * 2017-04-28 2019-01-29 재단법인대구경북과학기술원 로봇용 수동 툴 체인저
KR20190129546A (ko) * 2018-05-11 2019-11-20 재단법인대구경북과학기술원 로봇용 툴 체인저
KR102064463B1 (ko) * 2018-05-11 2020-02-11 재단법인대구경북과학기술원 로봇용 툴 체인저

Also Published As

Publication number Publication date
DE69104917D1 (de) 1994-12-08
US5083352A (en) 1992-01-28
JPH0432885U (US20020095090A1-20020718-M00002.png) 1992-03-17
CA2046207A1 (en) 1992-01-12
JPH0748384Y2 (ja) 1995-11-08
EP0466027B1 (en) 1994-11-02
DE69104917T2 (de) 1995-06-08
EP0466027A1 (en) 1992-01-15
KR920002282A (ko) 1992-02-28

Similar Documents

Publication Publication Date Title
KR100191238B1 (ko) 로보트용 공구 교환장치
US6199847B1 (en) Cylinder apparatus
EP0503193A2 (en) Sealed power clamp
US20190009416A1 (en) Quick Disconnect Apparatus for Modular Tooling
US5243264A (en) Tool fastening apparatus for industrial robots
EP0125220B1 (en) Clamping device
JP5027133B2 (ja) 工具用又はワーク用の位置決め・クランプ装置
JP3714687B2 (ja) 工作物を明確な位置に締付け固定するための装置
US5893551A (en) Vise with fully machinable jaws
JP4954899B2 (ja) 位置決め装置および位置決めシステム
US6338476B1 (en) Clamp apparatus
JPS6317599B2 (US20020095090A1-20020718-M00002.png)
US5799932A (en) Rotary clamp having a common plane mounting arrangement
JP2004090163A (ja) クランプ装置
US6105947A (en) Low profile pneumatic retractor clamp
US6244580B1 (en) Machining vise
KR102282818B1 (ko) 파지 장치
KR101083470B1 (ko) 위치결정장치 및 이를 구비한 클램핑 시스템
US20050035516A1 (en) Sealed pin locator clamp
JP2018118333A (ja) 自動工具交換装置
JPH07314368A (ja) ツール着脱用連結装置
CN117529389A (zh) 用于在机床上夹紧工件的设备
CN218193703U (zh) 导轨夹持器
CN218639457U (zh) 一种便捷更换的轴承外圈防磨损的夹持装置
EP0937538A1 (en) Low profile pneumatic retractor clamp

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20030109

Year of fee payment: 5

LAPS Lapse due to unpaid annual fee