SG11201807684XA - Effector unit for a robot, working device with a robot and method for changing an effector in robots - Google Patents

Effector unit for a robot, working device with a robot and method for changing an effector in robots

Info

Publication number
SG11201807684XA
SG11201807684XA SG11201807684XA SG11201807684XA SG11201807684XA SG 11201807684X A SG11201807684X A SG 11201807684XA SG 11201807684X A SG11201807684X A SG 11201807684XA SG 11201807684X A SG11201807684X A SG 11201807684XA SG 11201807684X A SG11201807684X A SG 11201807684XA
Authority
SG
Singapore
Prior art keywords
robot
effector
changing
robots
working device
Prior art date
Application number
SG11201807684XA
Inventor
Sami Haddadin
Original Assignee
Kastanienbaum GmbH
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 Kastanienbaum GmbH filed Critical Kastanienbaum GmbH
Publication of SG11201807684XA publication Critical patent/SG11201807684XA/en

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
    • B25J15/0408—Connections means
    • B25J15/0433—Connections means having gripping members
    • 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
    • B25J15/0475—Exchangeable fingers
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/18—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening using cams, levers, eccentrics, or toggles
    • F16B2/185—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening using cams, levers, eccentrics, or toggles using levers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/041—Allowing quick release of the apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action

Abstract

This invention concerns an effector unit (1) for a robot, which can be locked and unlocked via a relative movement of the robot, so that several effectors (3) can be used in the effector unit (1). In addition, the invention concerns a corresponding method for automatically changing effectors. (Fig. 8)
SG11201807684XA 2016-02-15 2017-02-15 Effector unit for a robot, working device with a robot and method for changing an effector in robots SG11201807684XA (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016001627 2016-02-15
DE102016004087.4A DE102016004087A1 (en) 2016-02-15 2016-04-09 Effector unit for a robot, working device with a robot and method for changing an effector in robots
PCT/EP2017/053442 WO2017140749A1 (en) 2016-02-15 2017-02-15 Effector unit for a robot, work implement comprising a robot, and method for replacing an effector in robots

Publications (1)

Publication Number Publication Date
SG11201807684XA true SG11201807684XA (en) 2018-10-30

Family

ID=59409979

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201807684XA SG11201807684XA (en) 2016-02-15 2017-02-15 Effector unit for a robot, working device with a robot and method for changing an effector in robots

Country Status (8)

Country Link
US (1) US20190054634A1 (en)
EP (1) EP3416787B1 (en)
JP (1) JP2019504776A (en)
KR (1) KR20180112851A (en)
CN (1) CN109070359A (en)
DE (1) DE102016004087A1 (en)
SG (1) SG11201807684XA (en)
WO (1) WO2017140749A1 (en)

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DE202015009616U1 (en) 2015-08-14 2018-08-30 Franka Emika Gmbh Robot system and housing part for such a robot system
DE102015012962A1 (en) 2015-10-08 2017-04-13 Sami Haddadin robot system
DE102016004788A1 (en) 2016-04-20 2017-10-26 Kastanienbaum GmbH Method for producing a robot and device for carrying out this method
CN116945132A (en) 2017-08-02 2023-10-27 伯克希尔格雷营业股份有限公司 System and method for acquiring and moving objects having complex outer surfaces
EP3829827A1 (en) 2018-07-27 2021-06-09 Berkshire Grey, Inc. Systems and methods for efficiently exchanging end effector tools
BR102019005708A2 (en) * 2019-03-22 2020-09-29 Máquinas Sanmartin Ltda DEVICE FOR HANDLING PRODUCTS IN CONTAINERS, SINGLE OR GROUPED, BASED ON MOVEMENT BY ELASTIC PRESSURE ON THE TOP OF THE CONTAINERS
CN109968403B (en) * 2019-04-30 2023-06-16 扬力集团股份有限公司 Device and method for automatically replacing end effector by mechanical arm
JP2021079519A (en) * 2019-11-22 2021-05-27 セイコーエプソン株式会社 Robot system and tool exchange method
DE102020110692A1 (en) 2020-04-20 2021-10-21 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Modular gripping finger, gripping device and construction kit
DE102020113599A1 (en) * 2020-05-20 2021-11-25 Krones Aktiengesellschaft Clamping device, clamping jaw and container handling device
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CN115320744B (en) * 2022-10-17 2023-01-10 成都理工大学 Four-joint hydraulic foot type robot leg

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Also Published As

Publication number Publication date
KR20180112851A (en) 2018-10-12
WO2017140749A1 (en) 2017-08-24
DE102016004087A1 (en) 2017-08-17
EP3416787A1 (en) 2018-12-26
EP3416787B1 (en) 2022-12-07
CN109070359A (en) 2018-12-21
US20190054634A1 (en) 2019-02-21
JP2019504776A (en) 2019-02-21

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