KR102158959B1 - 샤프트의 자동 교체를 위한 방법 및 시스템 - Google Patents

샤프트의 자동 교체를 위한 방법 및 시스템 Download PDF

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Publication number
KR102158959B1
KR102158959B1 KR1020207007971A KR20207007971A KR102158959B1 KR 102158959 B1 KR102158959 B1 KR 102158959B1 KR 1020207007971 A KR1020207007971 A KR 1020207007971A KR 20207007971 A KR20207007971 A KR 20207007971A KR 102158959 B1 KR102158959 B1 KR 102158959B1
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South Korea
Prior art keywords
shaft
coupling
conical
fixing element
coupling part
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KR1020207007971A
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Korean (ko)
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KR20200035315A (ko
Inventor
로날드 나드러
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페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하
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Publication of KR20200035315A publication Critical patent/KR20200035315A/ko
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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
    • B25J15/0408—Connections means
    • 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
    • B25J15/0408—Connections means
    • B25J15/0458—Connections means having a frustroconical member
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Jigs For Machine Tools (AREA)
  • Gripping On Spindles (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
KR1020207007971A 2017-09-13 2018-09-13 샤프트의 자동 교체를 위한 방법 및 시스템 Active KR102158959B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017121171.3A DE102017121171A1 (de) 2017-09-13 2017-09-13 Verfahren und system zum automatischen wechseln von wellen
DE102017121171.3 2017-09-13
PCT/EP2018/074799 WO2019053155A1 (de) 2017-09-13 2018-09-13 Verfahren und system zum automatischen wechseln von wellen

Publications (2)

Publication Number Publication Date
KR20200035315A KR20200035315A (ko) 2020-04-02
KR102158959B1 true KR102158959B1 (ko) 2020-09-23

Family

ID=63708289

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020207007971A Active KR102158959B1 (ko) 2017-09-13 2018-09-13 샤프트의 자동 교체를 위한 방법 및 시스템

Country Status (7)

Country Link
US (1) US11135729B2 (enExample)
EP (1) EP3481605B1 (enExample)
JP (1) JP7194175B2 (enExample)
KR (1) KR102158959B1 (enExample)
CN (1) CN111093915B (enExample)
DE (1) DE102017121171A1 (enExample)
WO (1) WO2019053155A1 (enExample)

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DE102019208438A1 (de) * 2019-06-11 2020-12-17 Festool Gmbh Werkzeugvorrichtung und Verfahren
WO2021025800A1 (en) * 2019-08-07 2021-02-11 RightHand Robotics, Inc. Robotic device configuration
DE102020111292A1 (de) * 2020-04-24 2021-10-28 Ferrobotics Compliant Robot Technology Gmbh Schnellspannsystem zur verbindung von werkzeugmaschinen mit einem roboter
CN111940820B (zh) * 2020-08-07 2021-08-24 国网江苏省电力有限公司常州供电分公司 便于更换锁定的通用通讯接口
US20220297314A1 (en) * 2021-03-16 2022-09-22 Mark Eugene Ganninger Mechanical Robot Tool Changer
CN113103042B (zh) * 2021-03-19 2022-03-29 上海航天精密机械研究所 面向生产线的薄壁舱体车铣复合加工的自动化装夹方法
CN113508686B (zh) * 2021-05-27 2022-04-12 中国农业大学 一种串番茄采摘末端执行器、机器人及其采摘方法
CN113386152B (zh) * 2021-06-29 2022-09-23 重庆大学 一种六轴打磨机器人
CN113787332B (zh) * 2021-10-29 2025-03-11 安徽莱陆智能科技有限公司 一种用于机器人紫外灯自动维护系统及维护方法
TWI779932B (zh) * 2021-11-22 2022-10-01 博府智造股份有限公司 恆力式主軸可快速轉換力控軸向之加工裝置及其加工方法
DE102023132882B3 (de) * 2023-11-24 2025-01-02 Torben Adolphs Bohrständer zur Aufnahme, Anordnung und/oder Führung einer Bohrmaschine

Citations (2)

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Publication number Priority date Publication date Assignee Title
WO1993017838A1 (de) 1992-03-13 1993-09-16 STÄDELE, Berta Manipulator
KR200392408Y1 (ko) 2005-05-17 2005-08-17 임창영 Ｃｎｃ 세혈방전가공기의 자동공구교환장치의 툴 척 홀더

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US4399603A (en) * 1980-11-17 1983-08-23 Giddings & Lewis, Inc. Power grip tool exchange arm for machining center
US4922591A (en) * 1984-03-20 1990-05-08 Carboloy Inc. Tool storage and changing system
ATE73027T1 (de) * 1988-05-06 1992-03-15 Emile Pfalzgraf Vorrichtung zur befestigung von werkzeughaltern und werkzeugen mit konischen und planen tragflaechen, insbesondere fuer bearbeitungszentren mit automatischen oder manuellen werkzeugwechslern.
US4897014A (en) * 1988-09-06 1990-01-30 Harbor Branch Oceanographic Institution, Inc. Device for interchange of tools
US5002500A (en) 1990-03-02 1991-03-26 General Motors Corporation Quick connect/disconnector for high amperage current
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
US5220749A (en) * 1991-11-07 1993-06-22 The University Of Rochester Grinding apparatus
JPH0636738U (ja) * 1992-10-19 1994-05-17 嘉一 佐藤 自動工具交換装置
TW251251B (enExample) * 1993-12-08 1995-07-11 Honda Motor Co Ltd
US5613929A (en) * 1995-06-07 1997-03-25 Hurco Companies, Inc. Machine tool with bar-spindle and DIN standard toolholder changer
JP3044456B2 (ja) * 1995-11-27 2000-05-22 本田技研工業株式会社 タレット式工作機械
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
US6149562A (en) * 1999-10-27 2000-11-21 Hurco Companies, Inc. Manual tool changing apparatus
US6436021B2 (en) * 2000-06-23 2002-08-20 Nippei Toyama Corporation Method and apparatus for supplying lubricant
JP2007090411A (ja) * 2005-09-30 2007-04-12 Kikusui Seisakusho Ltd 回転式粉末圧縮成形機
JP5125638B2 (ja) * 2008-03-12 2013-01-23 株式会社安川電機 双腕ロボット
CN101697929B (zh) * 2009-11-03 2011-04-27 昆山市工业技术研究院有限责任公司 一种机械臂末端工具快速切换装置
DE102010030642A1 (de) * 2010-06-09 2011-12-15 Robert Bosch Gmbh Handwerkzeugmaschine mit einer Werkzeugaufnahme
CN102059564A (zh) * 2010-12-13 2011-05-18 江南大学 快换工作夹头
US8667660B2 (en) * 2011-05-17 2014-03-11 Kennametal Inc. Quick change clamping device
EP2564994A1 (de) * 2011-09-02 2013-03-06 Siemens VAI Metals Technologies GmbH Kuppeleinrichtung zum automatisierten Ankuppeln eines Werkzeughalters an einen Werkzeugaufnehmer
CN102490181B (zh) * 2011-11-21 2014-04-23 哈尔滨工业大学 用于空间在轨模块更换的抓持机构
DE102012213207A1 (de) * 2012-07-26 2014-01-30 Deckel Maho Pfronten Gmbh Werkzeugköcher zum Aufnehmen und Verriegeln eines Werkzeugkegels an einem Werkzeugmagazin, Entriegelungseinrichtung und Werkzeugmagazin
CN104149102B (zh) * 2014-07-04 2015-09-09 哈尔滨博强机器人技术有限公司 机器人工具自锁式快速换装盘
CN105128022B (zh) * 2015-09-10 2017-01-18 西安交通大学 一种机器人智能末端自动更换装置
CN205415662U (zh) * 2016-04-05 2016-08-03 山东大学 一种机器人末端快速更换装置
US10065327B1 (en) * 2017-10-06 2018-09-04 Chih Hsiang Chen Robotic arm capable of changing clamping heads rapidly

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993017838A1 (de) 1992-03-13 1993-09-16 STÄDELE, Berta Manipulator
KR200392408Y1 (ko) 2005-05-17 2005-08-17 임창영 Ｃｎｃ 세혈방전가공기의 자동공구교환장치의 툴 척 홀더

Also Published As

Publication number Publication date
WO2019053155A1 (de) 2019-03-21
US20200376683A1 (en) 2020-12-03
KR20200035315A (ko) 2020-04-02
EP3481605B1 (de) 2020-01-22
JP7194175B2 (ja) 2022-12-21
DE102017121171A1 (de) 2019-03-14
EP3481605A1 (de) 2019-05-15
JP2020533189A (ja) 2020-11-19
US11135729B2 (en) 2021-10-05
CN111093915B (zh) 2023-01-10
CN111093915A (zh) 2020-05-01

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