WO2015110170A1 - Vorrichtung zum kuppeln und mechanischen verbinden einer ersten komponente mit einer zweiten komponente - Google Patents
Vorrichtung zum kuppeln und mechanischen verbinden einer ersten komponente mit einer zweiten komponente Download PDFInfo
- Publication number
- WO2015110170A1 WO2015110170A1 PCT/EP2014/051403 EP2014051403W WO2015110170A1 WO 2015110170 A1 WO2015110170 A1 WO 2015110170A1 EP 2014051403 W EP2014051403 W EP 2014051403W WO 2015110170 A1 WO2015110170 A1 WO 2015110170A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- component
- cavity
- locking
- insertion area
- sliding surface
- Prior art date
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 7
- 238000010168 coupling process Methods 0.000 title claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 7
- 238000003780 insertion Methods 0.000 claims abstract description 106
- 230000037431 insertion Effects 0.000 claims abstract description 106
- 238000000926 separation method Methods 0.000 claims description 5
- 241000237942 Conidae Species 0.000 claims 1
- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
- 238000003825 pressing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B25J15/0416—Connections means having balls
Definitions
- the invention relates to a device for coupling and mechanically connecting a first component with a second component according to the preamble of the main claim.
- the robot learns its movements. Usually, the movements of the robot are controlled by a handheld programmer. If the robot is operated in teach-in mode, it may happen that the locking balls are pushed out while the insertion area is not inserted sufficiently deep into the cavity. In this case, it may happen that the locking balls by pressing against the wall in an area outside the
- the tool plate is then first picked up by the robot arm as usual.
- the tool plate is held only on the friction between the balls and the receiving recesses, the tool can be detached from the robot arm.
- the object underlying the invention is therefore to propose a coupling device with a first and a second component, which ensures a secure locking, and in which a temporary connection of the two components is prevented.
- the invention provides a device for coupling and mechanically connecting a first component to a second component.
- the first component has a cavity, which with a
- the second component comprises a plug-in region which can be inserted into the cavity in accordance with an insertion direction and which comprises locking elements for engagement in the receiving recesses in a locking position.
- the locking elements are movable when inserting the insertion area into the cavity from a retracted position to an extended position the extended position, the locking elements and the receiving recesses form a positive connection between the first component with the second component,
- the receiving recesses adjoins the receiving recesses at least one sliding surface which is formed such that when the insertion is not in the locking position during or after insertion, a force component opposite to the plug is generated, which is a separation of the first component of the second Component causes or a force component is generated along the insertion direction, which causes the positive connection of the first component and with the second component in the locked position.
- the at least one sliding surface that adjoins the receiving recesses at least one collecting recess which is formed such that when the insertion is not in the Verriegelungssteliung during or after insertion, in the extended position at least one locking element and the at least one collecting recess form at least one positive connection of the first component with the second component.
- the locking elements and the receiving recesses or the at least one collecting recess either form an at least positive connection between the two components, or the two components are separated.
- the first component lies on a tool side having a tool
- the second component on a robot side comprising a robot.
- the tool is then either at least positively and securely connected to the robot arm, or the tool and the robot are not connected to one another.
- the at least one sliding surface or the at least one collecting recess is chamfered into the cavity relative to the insertion direction of the insertion region.
- the sliding surface is chamfered such that the force component opposite to the insertion direction is large enough to effect the separation of the two components.
- An angle of the tapered sliding surface relative to the insertion direction is preferably greater than 0 ° in order to prevent the temporary frictional connection between the two components.
- the angle of the tapered sliding surface relative to the insertion direction should preferably be less than 90 °, so that the force component is generated against the insertion direction.
- the angle may for example have a value between 5 ° and 85 °.
- the angle is advantageously less than 45 °.
- the angle has a value of less than 20 °.
- the sliding surface is chamfered such that the force component along the insertion direction is large enough to effect the positive connection of the two components.
- the at least one locking element then, when extended from the retracted position to the deployed position, typically slides on the at least one sliding surface into the receiving recess such that said locking position is established.
- An angle of the tapered sliding surface relative to the insertion direction is in this case preferably less than 180 ° in order to prevent the temporary frictional connection between the two components.
- the angle of the tapered sliding surface relative to the insertion direction should preferably be greater than 90 °, so that the force component is generated along the insertion direction. The angle may for example be between 95 ° and 175 °.
- the angle is preferably more than 135 °. Particularly preferably, the angle has a value between 160 ° and 175 °.
- the tapered sliding surface may have a constant angle relative to the insertion direction. Alternatively, the angle of the tapered sliding surface may vary relative to the insertion direction.
- the sliding surface may, for example, be formed by a part of a spherical surface. A radius of the spherical surface is typically greater than 100 mm.
- the insertion region and the cavity can be delimited by an outer wall or an inner wall.
- the receiving recesses and the at least one glacier surface or the at least one collecting surface are then formed in the inner wall.
- a section of the inner wall of the cavity between the at least two sliding surfaces or the at least two collecting recesses may then have a shape corresponding to the outer wall of the insertion region.
- the inner wall has, outside a region of the receiving recesses and the at least one sliding surface or the at least one collecting surface, a shape corresponding to the outer wall. In this way, a coaxial alignment of the Einsteckbe- retax can be ensured in the cavity.
- each receiving recess is assigned a respective sliding surface.
- the force component opposite or along the insertion direction have a particularly large value.
- each receiving recess is associated with a collecting recess.
- the positive connection between the at least one locking element and the collecting recess can be made particularly stable.
- the coaxial alignment of the insertion region in the cavity can be ensured particularly reliable if each receiving recess is associated with a respective sliding surface or a collecting recess.
- the number of sliding surfaces or collecting recesses may also be smaller than the number of receiving recesses. For example, there are two receiving recesses a sliding surface or a collecting recess.
- a single sliding surface or a single collecting recess which is formed as a circumferential surface around the cavity. By surrounding the cavity surface can continue to ensure that the temporary non-positive connection does not come about.
- a sliding around the cavity sliding surface or collecting recess can be particularly easy to produce.
- the at least one sliding surface or the at least one collecting recess can be produced for example by drilling or milling by means of appropriate tools in the inner wall.
- the at least one sliding surface may, for example, be formed by part of a conical recess in the first component.
- the at least one collecting recess can be formed by a spherical cap-shaped recess in the first component.
- a spherical radius of the spherical quill-shaped recess may be e.g. be less than 20 mm, preferably less than 10 mm.
- the cavity and / or the insertion area may be chamfered to facilitate insertion of the insertion area into the cavity.
- the cavity and / or the insertion region can be rotationally symmetrical. A rotational symmetry axis of the cavity and / or the insertion region can then run parallel to the insertion direction.
- the insertion region has a cylindrical outer wall or a ring projection, wherein an outer side of the annular projection forms the outer wall of the insertion region.
- the insertion region can also be formed, for example, by a regular polygon.
- At least one sensor is provided in the first component and / or the second component for detecting the locking position and / or for detecting the positive connection between the at least one locking element and the at least one collecting recess.
- the at least one sensor is preferably connected to an alarm system, which is set up for outputting a warning signal when detecting the locking position and / or the positive connection between the at least one locking element and the at least one collecting recess.
- the positive connection between the Verrieglungsissen and the collecting recesses is hereinafter referred to as emergency position.
- the warning signal may be, for example, an optical or an acoustic warning signal. This allows operating personnel!
- first and second components are in the locked position or in the emergency position, that is, whether the locking elements engage in the receiving recesses or in the collecting recesses.
- connections such as electricity connections, pressure ports or communication ports
- the second component is typically not connected to corresponding ports of the first component.
- a further sensor connected to the alarm system can preferably recognize that the said connections of the first and the second component are connected to one another or not.
- openings for a penetration of Verriegeiungsetti are provided in the outer wall of the insertion preferably openings for a penetration of Verriegeiungsetti are provided.
- the second component preferably comprises means for extending and retracting the locking elements.
- the means are designed as extendable piston.
- hydraulic or pneumatic pressure means are present in order to extend or retract the piston.
- the locking elements can, for. B. be formed as Kugein or pins, wherein the pins are preferably tapered at their ends wedge-shaped.
- the first and / or the second component can have guide elements for pre-centering the respective other component prior to inserting the insertion region into the cavity.
- the guide elements can intervene in exceptions of the other component.
- the guide elements and the exceptions preferably have mutually corresponding contact surfaces, which abut flat against each other to prevent a game perpendicular to the insertion game between the first and the second component in the locking position.
- Fig. 1 is a perspective view of a locking unit and a tool plate, wherein these are not connected to each other;
- FIG. 2 shows a cross section of the arrangement from FIG. 1;
- FIG. 3 shows a perspective view of a further locking unit and a further tool plate;
- FIG. 4 shows a cross section of the arrangement from FIG. 3; 5 shows a cross section of a partially inserted into the tool plate locking unit.
- FIG. 6 shows a cross section of a locking unit and a tool plate in the locking position.
- Fig. 7 is an angle of a tapered sliding surface relative to a
- Insertion direction of the locking unit in the tool plate; 8 shows a cross section of a locking unit and a tool plate, wherein the tool plate comprises a single sliding surface. a cross section of the arrangement of Figure 5, wherein the locking balls are extended too early; Fig. 10 detail A of Figure 9;
- 11 is a cross-section of a locking unit and an alternative tool plate
- Fig. 12 detail B of Figure 11;
- FIG. 13 shows a cross-section of a locking unit and another alternative tool plate
- FIG. 14 shows a cross section of a locking unit and a tool plate with collecting recesses.
- Fig. 15 shows a further cross section of the arrangement of the figure 1 and
- FIG. 16 shows the cross section from FIG. 14 in a locking position.
- FIG. 1 shows a perspective view of a first component 1 designed as a tool plate and of a second component 2 designed as a locking unit.
- FIG. 2 shows a cross-section of the arrangement from FIG. In the following, reference is made both to FIG. 1 and to FIG. 2.
- the locking unit 2 and the tool plate 1 can be attached to a robot arm or a tool; In addition, the locking unit 2 and the tool plate 1 are connectable to each other.
- the convincedpiatte 1 has a cavity 3, which is bounded by an inner wall 4.
- the inner wall 4 is provided with a plurality of receiving recesses 5; In the example shown, there are twelve. In a locking position (see Fig. 6), the locking unit 2 rests on the tool plate 1.
- the locking unit 2 comprises a plug-in region 6 which can be inserted into the cavity 3 in accordance with a plug-in direction Plug-in direction marked with an arrow 6 'shown in the figure 2.
- locking elements 7 are arranged to engage in the receiving recesses 5.
- openings 8 are provided for a passage of the locking elements 7.
- the insertion region 6 has a hollow cylinder whose outer side forms an outer wall 9 of the insertion region 6.
- the locking elements 7 are formed by balls each having a radius of 6 mm; they can be formed in other embodiments, for example, by tapered pins.
- a piston 10 is arranged in the hollow cylinder of the insertion region 6 parallel to the insertion direction and movable therein.
- the piston 10 is shown in the hollow cylinder in its lower position, which is referred to as a locked position and in which the piston 10 is held by the force of compression springs 10 '.
- the locking balls 7 are located in Figures 1 and 2 in an extended position in which the locking balls 7 protrude from the outer wall 9, and they are movable to a retracted position, ie in the hollow cylinder when the piston 10 against the Pfeiiplatz 6 ' is driven up.
- each receiving recess 5 is assigned a respective sliding surface 11.
- delimitations between the receiving recesses 5 and the sliding surfaces 11 are formed by projections 5 '.
- the sliding surfaces 11 are designed such that when the insertion region 6 is not in the locking position during or after insertion into the cavity 3, a force component F A referred to below as the ejection force is generated counter to the insertion direction. This results in a separation of the locking unit 2 and the tool plate 1.
- the tool plate 1 and the locking unit 2 are either firmly connected to each other via a positive connection or the ejection force F A ensures a separation of the two components 1 and 2.
- the sliding surfaces 11 are chamfered relative to the insertion direction.
- Each individual sliding surface 11 is formed by a part of a conical shell.
- the conical shape of the sliding surfaces 11 results from a machining process. processing the inner wall 4 by means of a drill or a milling tool.
- the Gleitfiumbleen 11 may be molded directly in a casting process in the inner wall 4 in another embodiment. Thus, other shapes for the sliding surfaces 11 are conceivable.
- both the insertion region 6 and the cavity 3 are chamfered, cf. Chamfers 12 and 13. It is also apparent from FIGS. 1 and 2 that sections 14 of the inner wall 4 between the sliding surfaces 11 have a shape corresponding to the outer wall 9. This will be a
- the tool plate 1 of Figures 3 and 4 differs from the tool plate of Figures 1 and 2 only in that the cavity 3 in the tool plate 1 'is formed. As a result, the screw 16 shown in Figure 1 can be omitted.
- the piston 10 is held in a locked position by the compression springs 10 ', in which the piston 10 contacts the locking balls 7 and the piston 10 is located at the bottom in the hollow cylinder.
- the compression springs 10 ' are shown by way of example only in FIG. 2, in which case it is clear that the compression springs 10' can also be present in the embodiments of the other figures. Hydraulic or pneumatic pressure means (not shown) are able to counteract the spring force of the compression springs 10 'by means of a pressure applied in a pressure chamber 17 (see Fig. 4), thus unlocking the pressure piston 10 from the locked position into an unlocked one
- the plunger 10 is in the unlocked, upper position, in which locking balls 7 are movable from the extended position to the retracted position.
- the locking balls 7 are moved when inserting the insertion portion 6 in the cavity 3 by pressing the inner wall 4 against the locking balls 7 in the hollow cylinder.
- the locking unit 2 rests on the tool plate 1.
- the locking balls 7 in the locking position by means of the pressure piston
- an angle ⁇ of the tapered sliding surface 11 is shown relative to the insertion direction. In the example shown, this angle is 15 °.
- the cavity 3 and the insertion region 6 have a rotational symmetry axis 21 parallel to the insertion direction.
- the number of sliding surfaces 11 may also be smaller than the number of receiving recesses 5.
- the tool plate 1 "shown in Figure 8 differs from the rest of the figures in that there is only one sliding surface 11 ', which is formed as a circumferential surface around the cavity, wherein the cavity 3, as in the embodiments of Figures 3 and 4, in the tool plate 1 "is formed.
- the circumferential to the cavity 3 sliding surface 11 ' has a larger area than the sliding surfaces 11, so that the locking balls 7 can not form a frictional connection with the inner wall 4.
- the receiving recesses 5 should increase the size of the sliding surfaces 11 so that the adhesion can still be prevented.
- the insertion region 6 is not inserted sufficiently deep into the cavity 3; the locking unit 2 is thus not on the tool plate 1.
- the pressure applied in the pressure chamber 17 ensures that the pressure piston 10 is moved in the direction of the arrow 6 'into the unlocked position in order to move the locking balls 7 into the extended position.
- the locking balls 7 experience a force F D exerted by the pressure piston in a direction perpendicular to the direction of the arrow 6 '.
- FIG. 10 shows detail A from FIG. 9, in which the most important forces which play a role for the present invention are shown.
- the locking balls 7 are pressed by means of the pressing force FD against the sliding surface 11. In this way, they experience a Normafkraft F N perpendicular to the sliding surface 11.
- F G F D sin ⁇ .
- a force component opposite to the insertion direction which is referred to as the ejection force F A
- F A F D sin et * cos ct.
- the maximum value of the ejection force F A as a function of the angle ⁇ can be determined by determining an optimum of the function F D sin ⁇ * cos et.
- the ejection force F A is equal to zero.
- the angle ⁇ of the chamfered surface should not be too large ⁇ from 80 ° to 90 °). If the angle ⁇ is chosen to be greater than 90 ° (90 ° to 180 °), the function F D sin et * cos et changes its sign and the ejection force F A changes its direction.
- Pushing the locking balls 7 into the hollow cylinder through the inner wall 4 in the region of the sliding surfaces 11 when inserting the insertion portion 6 in the cavity 3, ie the movement of the locking balls 7 from the extended position to the retracted position, can be favored if the Angle ⁇ is less than 45 °. As a result, a strength and strength of the inner wall are also ensured.
- the angle ⁇ is less than 20 °. In the illustrated embodiment, the angle ⁇ has a value of 15 °.
- FIG. 11 shows a cross-section of a locking unit 2 and an alternative tool plate 1.
- the locking unit 2 of Figure 11 corresponds to the locking unit 2 of Figures 1 to 10.
- the tool plate 1 differs from the tool plate 1 of Figure 9 only in that the angle ⁇ of the tapered sliding surface 11 is greater than 90 °.
- the above-mentioned function F D sin et * cos ⁇ thus has an opposite sign. If the insertion region 6 is not in the locking position during or after insertion, a force component F E is thus generated parallel to the insertion direction 6 '. As a result, the locking balls 7 slide on the sliding surface 11 until they are pressed into the receiving recesses 5. Thereafter, a positive connection of the tool plate 1 is effected with the locking unit 2 in the locking position.
- the angle ⁇ is 175 ° in the embodiment shown.
- FIG. 12 shows detail B from FIG. 11 in analogy to detail A of FIG.
- an angle ⁇ is here shown next to the angle, which has a value of 180 ° - et, thus in the present case is 5 °.
- the force component F E along the insertion direction is therefore
- F E F D sin ⁇ * cos ⁇ .
- the angle ⁇ is between 5 ° and 20 °.
- the bevelled sliding surface 11 shown in FIG. 13 describes a part of a spherical surface with a radius R of 160 mm.
- the angle ⁇ of the tapered sliding surface 11 is therefore not constant with respect to the insertion direction 6 ', wherein the angle et between 175 ° and 160 °.
- Also in this embodiment of the Gleitflä- che 11 slide the locking balls upon exertion of the compressive force F D on the sliding surfaces 11 in the exception recesses. 5
- FIG. 14 shows a cross section of a further alternative embodiment.
- the locking unit 2 shown in FIG. 14 corresponds to the locking unit 2 from FIGS. 1 to 13.
- the tool panel 1 of FIG. 13 differs from the tool panels 1 shown in FIGS. 1 to 12 only in that instead of the sliding surfaces 11, there are catching recesses 110 adjoin the receiving recesses 5.
- each receiving recess 5 is assigned a collecting recess 110.
- the collecting recesses 110 are formed corresponding to the locking balls 7 by spherical cap-shaped recesses in the tool plate 1, wherein a radius of the collecting recesses 110 is 6.05 mm each. The radius of the collecting recesses 110 is thus slightly larger than the radius of the locking balls 7 of 6 mm.
- a single collecting recess may alternatively be provided, which is designed as a surface running around the cavity 3, e.g. an annular groove.
- the number of collecting recesses 110 can thus optionally differ from the number of receiving recesses 5.
- the tool plate 1 and the locking unit are not in the locking position since the locking balls 7 do not engage in the receiving recesses 5. Instead, the collecting recesses 110 and the Verriegelungskugein7 form a compound of the tool plate 1 with the locking unit 2.
- the locking balls 7 are pressed by means of the pressure piston 10 with the pressure force F D against the collecting recesses 110, which is why the connection is both positive and non-positive.
- the connection between the locking balls 7 and the collecting recesses 110 shown in FIG. 13 is referred to below as the emergency position.
- a sensor 112 is disposed in the catch recess 110 for detecting the emergency position.
- this sensor 112 is a contact switch which is triggered when the locking ball 7 is pressed against the catching recess 110.
- the contact switch 112 is connected to an alarm system 114. who issues an audible and an optical warning signal as soon as the contact switch 112 is triggered.
- an alarm system 114 who issues an audible and an optical warning signal as soon as the contact switch 112 is triggered.
- other sensors may be provided for detecting the emergency position, for example light barriers or conductive recognition terminals.
- power terminals such as pressure ports, electricity connections, or communication terminals of the lock unit 2 are not connected to corresponding terminals of the tool plate 1. Due to the lack of connection of the respective terminals, the alarm system 114 can also be activated, whereupon the alarm system outputs an audible and visual warning signal.
- FIGS. 15 and 16 cross sections of the locking unit 2 and the tool plate 1 are shown by guide elements 18.
- the guide elements 18 are formed in the examples shown as guide columns and are located on the tool plate 1. Optionally, they can also be provided on the locking unit 2.
- the guide columns 18 engage in corresponding exceptions 19 and 19 'of the locking unit 2 and serve for pre-centering the locking unit 2 before inserting the plug-in area 6 into the cavity 3.
- the guide columns 18 thus ensure alignment of the locking unit 2 perpendicular to the plug-in direction.
- the guide columns are conically shaped.
- contact surfaces in the region of the pillar base 20 and the exceptions 19 ' lie flat against one another. This ensures that a game is minimized perpendicular to the insertion in the locked position.
- the sliding surfaces 11 or the collecting recesses in Figures 15 and 16 are not visible.
- the inner wall 4 in the region of the section 14 has a shape corresponding to the cylindrical outer wall 9.
- the inner wall 4 is flat against the outer wall 9 in the region of the portion 14 between the sliding surfaces 11 or between the collecting recesses.
- the compression springs 10 ' can support the locked, lower position of the plunger 10 and thus the extended position of the locking balls 7, If the tool plate 1 and the locking unit 2 are connected to each other in a power failure, the positive Connection of the locking balls 7 with the receiving recesses 5 by an interaction of the compression springs 10 ', the piston 10 and the locking balls 7 remain maintained.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2014/051403 WO2015110170A1 (de) | 2014-01-24 | 2014-01-24 | Vorrichtung zum kuppeln und mechanischen verbinden einer ersten komponente mit einer zweiten komponente |
DE112014006251.0T DE112014006251A5 (de) | 2014-01-24 | 2014-01-24 | Vorrichtung zum Kuppeln und mechanischen Verbinden einer ersten Komponente mit einer zweiten Komponente |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2014/051403 WO2015110170A1 (de) | 2014-01-24 | 2014-01-24 | Vorrichtung zum kuppeln und mechanischen verbinden einer ersten komponente mit einer zweiten komponente |
Publications (1)
Publication Number | Publication Date |
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WO2015110170A1 true WO2015110170A1 (de) | 2015-07-30 |
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ID=50000996
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2014/051403 WO2015110170A1 (de) | 2014-01-24 | 2014-01-24 | Vorrichtung zum kuppeln und mechanischen verbinden einer ersten komponente mit einer zweiten komponente |
Country Status (2)
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DE (1) | DE112014006251A5 (de) |
WO (1) | WO2015110170A1 (de) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
CN106426244A (zh) * | 2016-12-02 | 2017-02-22 | 江苏尚诚精密模具科技有限公司 | 一种机械手夹具快换机构 |
US20170144230A1 (en) * | 2015-11-24 | 2017-05-25 | GIMATIC S.r.l. | Tool changing device |
WO2022050835A1 (en) * | 2020-09-04 | 2022-03-10 | Technische Universiteit Delft | A mechanical construction with two parts joined by magnetizable balls and a methods for assembling and disassembling such a mechanical construction |
CN114174016A (zh) * | 2019-08-07 | 2022-03-11 | 右手机器人股份有限公司 | 机器人装置配置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4759686A (en) * | 1983-12-29 | 1988-07-26 | Rudi Kirst | Device for automatic interchange and coupling of grippers to robots or manipulating devices |
US20050238420A1 (en) * | 2004-04-02 | 2005-10-27 | Olof Hansson | Coupling device |
US20070231063A1 (en) * | 2004-05-18 | 2007-10-04 | Mikio Tsutsumi | Master Plate and Tool Plate for Robot Arm Coupling Apparatus, and Robot Arm Coupling Apparatus |
-
2014
- 2014-01-24 WO PCT/EP2014/051403 patent/WO2015110170A1/de active Application Filing
- 2014-01-24 DE DE112014006251.0T patent/DE112014006251A5/de not_active Ceased
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4759686A (en) * | 1983-12-29 | 1988-07-26 | Rudi Kirst | Device for automatic interchange and coupling of grippers to robots or manipulating devices |
US20050238420A1 (en) * | 2004-04-02 | 2005-10-27 | Olof Hansson | Coupling device |
US20070231063A1 (en) * | 2004-05-18 | 2007-10-04 | Mikio Tsutsumi | Master Plate and Tool Plate for Robot Arm Coupling Apparatus, and Robot Arm Coupling Apparatus |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
US10105855B2 (en) * | 2015-02-16 | 2018-10-23 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
US10836050B2 (en) | 2015-02-16 | 2020-11-17 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
US20170144230A1 (en) * | 2015-11-24 | 2017-05-25 | GIMATIC S.r.l. | Tool changing device |
CN106426244A (zh) * | 2016-12-02 | 2017-02-22 | 江苏尚诚精密模具科技有限公司 | 一种机械手夹具快换机构 |
CN114174016A (zh) * | 2019-08-07 | 2022-03-11 | 右手机器人股份有限公司 | 机器人装置配置 |
WO2022050835A1 (en) * | 2020-09-04 | 2022-03-10 | Technische Universiteit Delft | A mechanical construction with two parts joined by magnetizable balls and a methods for assembling and disassembling such a mechanical construction |
NL2026409B1 (en) * | 2020-09-04 | 2022-05-04 | Univ Delft Tech | A mechanical construction and a method for assembling and/or disassembling such a mechanical construction |
Also Published As
Publication number | Publication date |
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DE112014006251A5 (de) | 2016-10-06 |
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