KR20090008192A - 로봇식 공구 교환기 - Google Patents

로봇식 공구 교환기 Download PDF

Info

Publication number
KR20090008192A
KR20090008192A KR1020087023392A KR20087023392A KR20090008192A KR 20090008192 A KR20090008192 A KR 20090008192A KR 1020087023392 A KR1020087023392 A KR 1020087023392A KR 20087023392 A KR20087023392 A KR 20087023392A KR 20090008192 A KR20090008192 A KR 20090008192A
Authority
KR
South Korea
Prior art keywords
piston
tool changer
robotic tool
fail safe
unlocked position
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.)
Ceased
Application number
KR1020087023392A
Other languages
English (en)
Korean (ko)
Inventor
마이클 엘. 글로덴
레오나드 아론 오드햄
마크 디. 보독스
Original Assignee
에이티아이 인더스트리얼 오토메이션, 인크.
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=38510147&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=KR20090008192(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 에이티아이 인더스트리얼 오토메이션, 인크. filed Critical 에이티아이 인더스트리얼 오토메이션, 인크.
Publication of KR20090008192A publication Critical patent/KR20090008192A/ko
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
    • B23B31/30—Chucks characterised by features relating primarily to remote control of the gripping means using fluid-pressure means in the chuck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
    • B23B31/1071—Retention by balls
    • 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
    • B23B—TURNING; BORING
    • B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/22—Externally located features, machining or gripping of external surfaces
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/10—Expanding
    • Y10T279/1037—Axially moving actuator
    • Y10T279/1041—Wedge
    • Y10T279/1045—Internal cone
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/22—Joints and connections with fluid pressure responsive component
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y10T403/592—Ball detent
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y10T403/593—Remotely actuated

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Actuator (AREA)
  • Manipulator (AREA)
KR1020087023392A 2006-03-14 2007-02-28 로봇식 공구 교환기 Ceased KR20090008192A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/374,706 US8005570B2 (en) 2006-03-14 2006-03-14 Robotic tool changer
US11/374,706 2006-03-14

Publications (1)

Publication Number Publication Date
KR20090008192A true KR20090008192A (ko) 2009-01-21

Family

ID=38510147

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020087023392A Ceased KR20090008192A (ko) 2006-03-14 2007-02-28 로봇식 공구 교환기

Country Status (5)

Country Link
US (1) US8005570B2 (enExample)
EP (1) EP1993764B8 (enExample)
JP (1) JP2009530121A (enExample)
KR (1) KR20090008192A (enExample)
WO (1) WO2007106662A2 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010015221U1 (de) 2010-02-24 2011-01-05 Raumaster Paper Oy Anlage zum Wechseln von Greifer oder Adapter; Anordnung für eine Wechselstation sowie Vertikalrollenlager
WO2021194737A1 (en) * 2020-03-23 2021-09-30 Milwaukee Electric Tool Corporation Rotary hammer

Families Citing this family (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8601667B2 (en) * 2006-04-04 2013-12-10 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with actuation mechanism
US8500132B2 (en) * 2006-04-04 2013-08-06 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer with one-way clutch and dual-button handle mechanism
US8209840B2 (en) * 2006-04-04 2012-07-03 Ati Industrial Automation, Inc. Rotating coupling for robotic tool changer
US8132816B2 (en) * 2006-04-04 2012-03-13 Ati Industrial Automation, Inc. Electrically Actuated Robotic Tool Changer
US8152173B2 (en) * 2006-08-04 2012-04-10 Ingersoll Machine Tools, Inc. Clamping apparatus and method
CN101524845B (zh) * 2008-03-05 2013-01-09 鸿富锦精密工业（深圳）有限公司 夹持机构
CN101543993B (zh) * 2008-03-25 2012-03-28 鸿富锦精密工业（深圳）有限公司 机械手
CN101607398B (zh) * 2008-06-18 2012-06-20 鸿富锦精密工业（深圳）有限公司 夹具更换装置
US8533930B2 (en) * 2008-09-05 2013-09-17 Ati Industrial Automation, Inc. Manual robotic tool changer having rapid coupling mechanism
US9724830B2 (en) 2008-09-05 2017-08-08 Ati Industrial Automation, Inc. Manual robotic tool changer with rolling members
USD621859S1 (en) * 2010-05-14 2010-08-17 Tormach Llc Tool changer fork
ITTV20120129A1 (it) * 2012-07-11 2014-01-12 Almerino Canuto Dispositivo di compensazione del disassamento in sistemi di bloccaggio automatici
JP5966010B2 (ja) * 2012-09-21 2016-08-10 ビー・エル・オートテック株式会社 工具交換装置
US9151343B2 (en) * 2013-03-14 2015-10-06 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic device
JP2014217909A (ja) * 2013-05-07 2014-11-20 ビー・エル・オートテック株式会社 工具交換装置用のマスター装置
CH709351A1 (de) * 2014-03-11 2015-09-15 Erowa Ag Kupplungsvorrichtung für ein Handhabungsgerät.
GB201411392D0 (en) * 2014-06-26 2014-08-13 Black & Decker Inc A tool holder
US10661449B2 (en) 2014-08-20 2020-05-26 Ati Industrial Automation, Inc. Safe robotic tool changer
US20160052146A1 (en) * 2014-08-20 2016-02-25 Ati Industrial Automation, Inc. Robotic tool changer with tool stand decouple power supply
US11097390B2 (en) 2014-08-20 2021-08-24 Ati Industrial Automation, Inc. Pneumatic safety interlock
JP6475979B2 (ja) * 2014-12-26 2019-02-27 ニッタ株式会社 係合部品、雌型部材、及び工具交換装置
US9677582B2 (en) * 2015-01-09 2017-06-13 Northrop Grumman Systems Corporation Fluid-actuated fastening device
EP3259101B1 (en) 2015-02-16 2019-10-02 Norgren Automation Solutions, LLC Quick disconnect apparatus for modular tooling
US9981391B2 (en) 2015-02-16 2018-05-29 Norgren Automation Solutions, Llc Quick disconnect apparatus for modular tooling
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
TWI593525B (zh) * 2015-06-02 2017-08-01 Hiwin Tech Corp Mechanical replacement device and method for exchanging end effectors
JP6030718B1 (ja) 2015-07-03 2016-11-24 上銀科技股▲分▼有限公司 末端効果器を交換する機械式交換装置
WO2017062583A1 (en) * 2015-10-06 2017-04-13 Oceaneering International, Inc. Manipulator end effector
DE102016222287A1 (de) 2015-11-12 2017-05-18 Ati Industrial Automation, Inc. Sicherer roboterwerkzeugwechsler
ITUB20155846A1 (it) 2015-11-24 2017-05-24 Gimatic S R L Dispositivo cambia utensile
JP6321852B1 (ja) * 2017-04-06 2018-05-09 エスアールエンジニアリング株式会社 ロボットアームのカップリング装置
US10335957B2 (en) * 2017-04-25 2019-07-02 Ati Industrial Automation, Inc. Magnetically activated tool changer
USD898879S1 (en) 2017-05-01 2020-10-13 Norgren Automation Solutions, Llc Modular tooling coupler
CN107081781A (zh) * 2017-06-28 2017-08-22 深圳市恒拓高工业技术股份有限公司 一种工业机器人末端工具的快速更换装置及其更换方法
EP3723950B1 (en) * 2017-12-14 2024-01-03 Onrobot A/S Gripping device
US10773817B1 (en) 2018-03-08 2020-09-15 Northrop Grumman Systems Corporation Bi-directional flow ram air system for an aircraft
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
US20210370531A1 (en) 2020-05-28 2021-12-02 Ati Industrial Automation, Inc. Pin, Toroidal Spring Socket, and High-Current Connector for a Robotic Device
US11850733B2 (en) * 2020-06-11 2023-12-26 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay
JP7159506B2 (ja) * 2020-07-01 2022-10-24 ビー・エル・オートテック株式会社 ツール交換装置
US12090638B2 (en) 2020-08-25 2024-09-17 Ati Industrial Automation, Inc. Robotic tool changer having debris passages for channeling debris from the ball-locking mechanism
US11691294B2 (en) * 2020-09-22 2023-07-04 Ati Industrial Automation, Inc. Robotic tool changer coupling mechanism with increased torsional stiffness
RU2743389C1 (ru) * 2020-10-22 2021-02-17 Федеральное государственное автономное образовательное учреждение высшего образования «Дальневосточный федеральный университет» (ДВФУ) Узел автоматического крепления съемного элемента
JP7608959B2 (ja) * 2021-04-22 2025-01-07 Smc株式会社 エンドエフェクタ交換装置
FR3122594B1 (fr) 2021-05-04 2023-05-26 Commissariat Energie Atomique Interface porte-outil de bras robotisé à décalage angulaire
US11806634B2 (en) 2021-07-30 2023-11-07 Tait Towers Manufacturing, LLC Connection system for suspended loads for ride systems
US11931663B2 (en) 2021-07-30 2024-03-19 Tait Towers Manufacturing, LLC Active damping system for suspended ride system
US11856898B2 (en) 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
US11963733B2 (en) 2021-12-01 2024-04-23 Nuvasive Inc. Connector assemblies for connecting a robotic arm with a medical end effector
JP7655228B2 (ja) * 2022-01-07 2025-04-02 Smc株式会社 エンドエフェクタ交換装置
US20230240793A1 (en) * 2022-02-02 2023-08-03 Mako Surgical Corp. Quick-Connect Mounting System For Surgical Components
US20240342927A1 (en) 2023-04-17 2024-10-17 Ati Industrial Automation, Inc. Manual Robotic Tool Changer with Generally Opposed Decoupling Actuation Force and Safety Latch Actuation Force
WO2025166444A1 (en) 2024-02-08 2025-08-14 4Ag Robotics Inc. Machine-learning-enabled tool changer for mushroom crop management system
US12377567B1 (en) 2024-11-22 2025-08-05 4Ag Robotics Inc. Mushroom trimming and sorting system

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0028329B1 (en) * 1979-10-22 1984-10-24 Toyoda Koki Kabushiki Kaisha Tool storage magazine for machine tool
FR2542243B1 (fr) * 1983-03-11 1987-01-23 Syspro Porte-outil pour robot industriel
DE3347423A1 (de) * 1983-12-29 1985-07-11 Rudi 4018 Langenfeld Kirst Vorrichtung zum automatischen auswechseln und kuppeln von greifern an robotern oder handhabungsgeraeten
US4679956A (en) * 1986-01-08 1987-07-14 General Motors Corporation Quick disconnect device
US4696524A (en) * 1986-03-03 1987-09-29 Custom Tool & Mfg. Co. Robot arm coupling apparatus
DE3710472A1 (de) * 1987-03-30 1988-10-20 Erowa Ag Vorrichtung zur loesbaren befestigung von werkzeugen an einem handhabungsgeraet
US4906123A (en) * 1988-03-02 1990-03-06 Wes-Tech, Inc. Quick changecoupling system for robotic attachments
US4886467A (en) * 1989-06-02 1989-12-12 Chrysler Motors Corporation Quick change tool holder
US5002500A (en) * 1990-03-02 1991-03-26 General Motors Corporation Quick connect/disconnector for high amperage current
JP2505624B2 (ja) * 1990-06-28 1996-06-12 ビー・エル・オートテック株式会社 ロボットア―ムカップリング装置用マスタプレ―ト及びツ―ルプレ―ト並びにそれらを組み合わせたロボットア―ムカップリング装置
DE9303050U1 (de) * 1993-03-03 1993-04-22 Festo AG & Co, 73734 Esslingen Fluidisch betätigbarer Arbeitszylinder
DE29615613U1 (de) * 1996-09-09 1997-08-28 Stark, Emil, Götzis Spannvorrichtung zum Spannen eines Schnellspannzylinders auf einer Trägerplatte für Bearbeitungsmaschinen
DE29718726U1 (de) * 1997-10-10 1999-02-18 KUKA Schweissanlagen GmbH, 86165 Augsburg Wechselkupplung
WO2000027596A1 (en) * 1998-11-05 2000-05-18 Pascal Kabushiki Kaisha Tool connecting device for robot hand
CN1371316A (zh) * 2000-07-06 2002-09-25 帕斯卡株式会社 机械手用工具连接装置
FR2817596B1 (fr) * 2000-12-06 2003-09-19 Faurecia Sieges Automobile Systeme d'assemblage au moyen d'un dispositif d'ancrage a billes
US7252453B1 (en) 2002-05-29 2007-08-07 Ati Industrial Automation, Inc. Robot arm coupling apparatus
US7374524B2 (en) * 2004-08-17 2008-05-20 Delaware Capital Formation, Inc. Method, system and program product for enabling rapid connection of automated tools to a device network
US8132816B2 (en) * 2006-04-04 2012-03-13 Ati Industrial Automation, Inc. Electrically Actuated Robotic Tool Changer

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010015221U1 (de) 2010-02-24 2011-01-05 Raumaster Paper Oy Anlage zum Wechseln von Greifer oder Adapter; Anordnung für eine Wechselstation sowie Vertikalrollenlager
WO2021194737A1 (en) * 2020-03-23 2021-09-30 Milwaukee Electric Tool Corporation Rotary hammer
US12005555B2 (en) 2020-03-23 2024-06-11 Milwaukee Electric Tool Corporation Rotary hammer

Also Published As

Publication number Publication date
JP2009530121A (ja) 2009-08-27
EP1993764A2 (en) 2008-11-26
US8005570B2 (en) 2011-08-23
WO2007106662A2 (en) 2007-09-20
WO2007106662A3 (en) 2008-05-02
US20070235949A1 (en) 2007-10-11
EP1993764A4 (en) 2009-04-15
EP1993764B8 (en) 2017-01-04
EP1993764B1 (en) 2016-10-26

Similar Documents

Publication Publication Date Title
KR20090008192A (ko) 로봇식 공구 교환기
US8209840B2 (en) Rotating coupling for robotic tool changer
CA2880077C (en) Coupling device for a manipulator
US10661449B2 (en) Safe robotic tool changer
US8601667B2 (en) Rotating coupling for robotic tool changer with actuation mechanism
JP2017129275A (ja) 接続構造及びそれを備えたｌｅｄ表示装置
KR102004857B1 (ko) 풀림 방지용 너트
CN110023040B (zh) 操作棒的连结结构
CA2752997A1 (en) Pipe connector
CN109562497B (zh) 用于可再次松脱地固定模块的器具
WO2009027734A2 (en) A device for locking a first component to a second
JP4954899B2 (ja) 位置決め装置および位置決めシステム
JP2006112628A (ja) クイックカップリング用オス部分、クイックカップリング及びこのような２つのカップリングのセット
KR101445417B1 (ko) 체결구조 및 그에 포함된 체결볼트
KR100355165B1 (ko) 전자부품및장치수납기구
US8042575B2 (en) Spring energized plug
US10337338B2 (en) Wheel disk assembly having sealing plates
JP6249917B2 (ja) 管継手装置
CN217421946U (zh) 一种过载自动释放装置
JP2020115018A (ja) 継手部材
KR101211544B1 (ko) 협소부의 체결구조
WO2018187055A1 (en) Single piece expansion sealing plug
HK1215007B (en) Coupling device for a manipulator

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20080925

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20111229

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20130627

Patent event code: PE09021S01D

E601 Decision to refuse application
PE0601 Decision on rejection of patent

Patent event date: 20131028

Comment text: Decision to Refuse Application

Patent event code: PE06012S01D

Patent event date: 20130627

Comment text: Notification of reason for refusal

Patent event code: PE06011S01I