WO2009062756A8 - Werkzeughalterungsvorrichtung - Google Patents

Werkzeughalterungsvorrichtung Download PDF

Info

Publication number
WO2009062756A8
WO2009062756A8 PCT/EP2008/009832 EP2008009832W WO2009062756A8 WO 2009062756 A8 WO2009062756 A8 WO 2009062756A8 EP 2008009832 W EP2008009832 W EP 2008009832W WO 2009062756 A8 WO2009062756 A8 WO 2009062756A8
Authority
WO
WIPO (PCT)
Prior art keywords
tool holder
opening
coupling device
holder device
receptacle
Prior art date
Application number
PCT/EP2008/009832
Other languages
English (en)
French (fr)
Other versions
WO2009062756A1 (de
Inventor
Gerhard Geyer
Norbert Ermer
Original Assignee
Stäubli Tec-Systems 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 Stäubli Tec-Systems GmbH filed Critical Stäubli Tec-Systems GmbH
Priority to CN200880124717XA priority Critical patent/CN101932406B/zh
Priority to US12/734,626 priority patent/US8360377B2/en
Priority to DE112008003081.2T priority patent/DE112008003081B4/de
Publication of WO2009062756A1 publication Critical patent/WO2009062756A1/de
Publication of WO2009062756A8 publication Critical patent/WO2009062756A8/de

Links

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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15553—Tensioning devices or tool holders, e.g. grippers
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/17—Socket type

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Connection Of Plates (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Workshop Equipment, Work Benches, Supports, Or Storage Means (AREA)

Abstract

Die erfindungsgemäße Werkzeughalterungsvorrichtung (1) weist eine erste und zweite Kupplungsvorrichtung auf, wobei die erste Kupplungsvorrichtung (100; 100') mindestens eine Aufnahme (110;110'), die zweite Kupplungsvorrichtung (200;200') mindestens einen Aufnahmebolzen (300;300') und die erste oder zweite Kupplungsvorrichtung eine Werkzeugaufhängung (101; 101') aufweist. Die Aufnahme (110;110') weist eine Ausnehmung (1000; 1000') und eine Öffnung (114; 114') auf, wobei sich die Öffnung vom ersten Ende in Richtung des zweiten Endes über eine Länge erstreckt und die Länge (LO;LO') der Öffnung kleiner ist als eine Länge (LA;LA') der Ausnehmung und eine Breite (BO;BO') der Öffnung größer oder gleich einer Breite des Aufnahmebolzens ist.
PCT/EP2008/009832 2007-11-14 2008-11-14 Werkzeughalterungsvorrichtung WO2009062756A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN200880124717XA CN101932406B (zh) 2007-11-14 2008-11-14 工具安装装置
US12/734,626 US8360377B2 (en) 2007-11-14 2008-11-14 Tool mounting device
DE112008003081.2T DE112008003081B4 (de) 2007-11-14 2008-11-14 Werkzeughalterungsvorrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202007016071U DE202007016071U1 (de) 2007-11-14 2007-11-14 Werkzeughalterungsvorrichtung
DE202007016071.2 2007-11-14

Publications (2)

Publication Number Publication Date
WO2009062756A1 WO2009062756A1 (de) 2009-05-22
WO2009062756A8 true WO2009062756A8 (de) 2010-07-01

Family

ID=40339884

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/009832 WO2009062756A1 (de) 2007-11-14 2008-11-14 Werkzeughalterungsvorrichtung

Country Status (4)

Country Link
US (1) US8360377B2 (de)
CN (1) CN101932406B (de)
DE (2) DE202007016071U1 (de)
WO (1) WO2009062756A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2412445A1 (de) 2010-07-29 2012-02-01 Matthias Koch Gestell zur Aufnahme von zu beschichtenden Werkstücken
DE202010011582U1 (de) 2010-08-19 2011-11-21 Stäubli-Tec Systems GmbH Lagerungseinheit für eine Werkzeugablagevorrichtung
EP2457799B1 (de) * 2010-11-12 2019-01-09 Stäubli Tec-Systems GmbH Multikupplung
US11097390B2 (en) * 2014-08-20 2021-08-24 Ati Industrial Automation, Inc. Pneumatic safety interlock
US9821424B2 (en) * 2014-10-03 2017-11-21 GM Global Technology Operations LLC Manufacturing fixture
US11167411B2 (en) * 2015-08-24 2021-11-09 Rethink Robotics Gmbh Quick-release mechanism for tool adapter plate and robots incorporating the same
DE102017119014A1 (de) 2017-08-21 2019-02-21 Volkswagen Ag Werkzeugbahnhof mit einem ein Nachgiebigkeitsmodul umfassenden Werkzeugwechselsystem und Nachgiebigkeitsmodul
CN110576442B (zh) * 2019-09-11 2021-12-14 西安精雕软件科技有限公司 一种降低机器人示教难度的托盘抓取装置及其操作方法
US11154993B2 (en) * 2019-12-11 2021-10-26 Delaware Capital Formation, Inc. Tool changer
CN111070236B (zh) * 2019-12-27 2023-03-31 江苏佰加汽车零部件有限公司 一种用于悬置及夹紧车用空调离合器的气动夹具

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4281447A (en) * 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4784421A (en) * 1986-04-18 1988-11-15 Mecanotron Corporation Interchangeable tool mounting mechanism for robots
DE3812527A1 (de) * 1988-04-15 1989-10-26 Fein C & E Werkzeugwechselvorrichtung fuer industrieroboter
US4995493A (en) * 1990-03-02 1991-02-26 General Motors Corporation Robot tool changer and overload device
US5816736A (en) * 1997-03-20 1998-10-06 Flex-Cable, Inc. Robot arm assembly
DE29922796U1 (de) * 1999-12-24 2000-08-17 Staeubli Vertriebs Gmbh Automatisches Roboterwechselsystem zum Wechseln von Greifern am Roboter
DE20208059U1 (de) 2002-05-23 2003-10-02 Staeubli Tec Systems Gmbh Werkzeuglagerungsvorrichtung, Werkzeugwechselvorrichtung und Lagerungseinheit
US7451779B2 (en) * 2004-08-13 2008-11-18 Invensys Systems, Inc. Universal mounting bracket for pressure transmitters emulators
DE202005012600U1 (de) * 2005-08-04 2006-12-14 Stäubli Tec-Systems GmbH Ablagesystem, Halterung und Kopplungseinheit
DE102006009432B4 (de) * 2006-03-01 2017-07-06 Miksch Gmbh Greifvorrichtung für eine Werkzeugwechselvorrichtung
DE102006040034A1 (de) * 2006-08-23 2008-03-20 Stäubli Tec-Systems GmbH Kupplungssystem
US8079560B2 (en) * 2009-09-27 2011-12-20 Donald A. Blackwell Adjustable mounting apparatus for electrical devices

Also Published As

Publication number Publication date
CN101932406A (zh) 2010-12-29
US20100301568A1 (en) 2010-12-02
US8360377B2 (en) 2013-01-29
WO2009062756A1 (de) 2009-05-22
DE112008003081A5 (de) 2011-02-24
CN101932406B (zh) 2012-07-04
DE202007016071U1 (de) 2009-03-26
DE112008003081B4 (de) 2018-05-24

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