WO2022137017A1 - Ensemble outil pour des robots industriels - Google Patents

Ensemble outil pour des robots industriels Download PDF

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Publication number
WO2022137017A1
WO2022137017A1 PCT/IB2021/061702 IB2021061702W WO2022137017A1 WO 2022137017 A1 WO2022137017 A1 WO 2022137017A1 IB 2021061702 W IB2021061702 W IB 2021061702W WO 2022137017 A1 WO2022137017 A1 WO 2022137017A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
basic structure
tool assembly
electrical energy
storage device
Prior art date
Application number
PCT/IB2021/061702
Other languages
English (en)
Inventor
Francesco BLUMETTI
Andrea CARLESIMO
Francesco Leali
Fabio PINI
Original Assignee
Ideativa Srl
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 Ideativa Srl filed Critical Ideativa Srl
Publication of WO2022137017A1 publication Critical patent/WO2022137017A1/fr

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
    • 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
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0045—Contactless power transmission, e.g. by magnetic induction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source

Definitions

  • the present invention relates to a tool assembly for industrial robots, e.g. anthropomorphic robots and collaborative robots.
  • the tool assemblies may comprise a gripper, a cutting device, a screwing device, a spindle, a calibration device, a camera, etc.
  • the tool assemblies which can be combined with the robots may comprise, e.g., an ultrasonic bone cutting device, a laser bone cutting device, etc.
  • the interchangeability of the tool assemblies is required, i.e. it is expected that the same industrial robot can be alternatively coupled to different working tools in order to carry out different machining processes.
  • the industrial robots are provided with an extremal portion with a flange while the tool assembly comprises a tool changing unit which can be associated with the flange and activated to pick up/release a plurality of working tools in order to carry out the required work processes.
  • the tool assembly is powered and controlled through appropriate connecting cables, which transfer power and control signals from the industrial robot to the tool changing unit, and through electrical connectors, which transfer power and control signals from the tool changing unit to the machining tool to which it is connected.
  • the particular arrangement of the electrical connecting and/or signal transmission devices in a position accessible from the outside and/or their geometric conformation promote the accumulation of dirt at the point where the same are located, especially as far as electrical connectors are concerned.
  • connecting cables intended to transfer power and control signals to the tool changing unit may limit the mobility and operability of the industrial robot.
  • patent document US20070276538A1 describes a particular type of tool assemblies in which the exchange of power and control signals from the industrial robot to the tool assembly occurs, at least partly, in the wireless mode.
  • the transfer of energy between the tool changing unit and the industrial robot takes place through connecting cables, while the power of the working tool by the tool changing unit takes place using the principle of electromagnetic induction.
  • the electrical current which is transferred from the robot to the tool changing unit generates a variable magnetic field in the tool changing unit itself that involves an appropriate electrical component on board the working tool and promotes the transfer of electrical energy from the tool changing unit to the tool itself by electromagnetic induction.
  • the aforementioned connecting cables may limit the mobility and operation of the robot itself.
  • the main aim of the present invention is to devise a tool assembly for industrial robots which allows limiting the amount of dirt which can be deposited on the tool assembly itself and/or on the industrial robot.
  • Another object of the present invention is to devise a tool assembly for industrial robots which allows facilitating the cleaning operations of the tool assembly and of the industrial robot, thus improving the level of hygiene achieved.
  • the present invention has the aim of devising a tool assembly for industrial robots which allows the tool assembly to be cleaned using particularly efficient cleaning products and/or special cleaning machines such as, e.g., industrial washing machines and/or autoclaves.
  • a further object of the present invention is to devise a tool assembly for industrial robots which allows improving the mobility and operability of the industrial robot with which it is associated.
  • Another object of the present invention is to devise a tool assembly for industrial robots which allows overcoming the aforementioned drawbacks of the prior art within a simple, rational, easy and effective to use as well as affordable solution.
  • the aforementioned objects are achieved by the present tool assembly for industrial robots having the characteristics of claim 1.
  • Figure 1 is a schematic view of an industrial robot provided with a tool assembly according to the invention and with a tool assembly charging station according to the invention;
  • Figure 2 is a schematic view of some components of the tool assembly according to the invention.
  • reference numeral 1 globally indicates a tool assembly for industrial robots.
  • Industrial robots are special automated and programmable machines which are used in various manufacturing and/or working sectors in order to facilitate and speed up the work activities carried out and to improve the efficiency thereof.
  • Industrial robots are able to move in the space and, precisely, have a number of degrees of freedom greater than or equal to three (usually varying between three and seven).
  • the tool assembly 1 can be associated with an extremal portion A of an industrial robot R having a kinematic structure of the anthropomorphic type.
  • a kinematic structure of the anthropomorphic type identifies a special type of industrial robot which has six degrees of freedom and which reproduces, at least partly, the mobility and functionality of a human arm.
  • the flange of an anthropomorphic robot is able to shift along the three Cartesian axes and can rotate around the same axes.
  • tool assembly 1 is employed in association with a different industrial robot R such as, e.g., a robot with a Cartesian kinematic structure having three degrees of freedom of movement.
  • a different industrial robot R such as, e.g., a robot with a Cartesian kinematic structure having three degrees of freedom of movement.
  • the tool assembly 1 comprises at least a first unit 2 comprising at least a first basic structure 3 associable with the extremal portion A of the industrial robot R.
  • the first basic structure 3 is preferably made of metal.
  • the industrial robot R is provided with at least one flange element positioned at the extremal portion A and associable with the first basic structure 3 according to the implementation methods which will be detailed later on.
  • the tool assembly 1 comprises at least a second unit 4 comprising at least a second basic structure 5, associable with the first basic structure 3, and at least one work tool 6, 7 associated with the second basic structure 5.
  • the second basic structure 5 is preferably made of metal.
  • the work tool 6, 7 is a special work device which is associated with the industrial robot R in order to carry out a precise work process.
  • the work tool 6, 7 may consist of a work tool 6 which does not need to be energetically powered to operate or may be a work tool 7 which needs to be powered to operate.
  • the work tool 6, 7 with which the second unit 4 is provided comprises a cutting tip.
  • the work tool 6, 7 may be of a different type and may comprise, e.g., a gripper or a screwing device or a spindle or a calibration device or a camera, etc.
  • the tool assembly 1 comprises mutual fastening/release means 8, 9 of the first unit 2 and of the second unit 4.
  • the mutual fastening/release means 8, 9 allow quick coupling/uncoupling of the first unit 2 to/from the second unit 4 so as to make possible a rapid change of the work tool 6, 7 used.
  • the first unit 2 comprises at least one storage device 10 of electrical energy associated with the first basic structure 3.
  • the storage device 10 comprises a power rechargeable battery pack and associated with the first basic structure 3.
  • the mutual fastening/release means 8, 9 comprise at least one gripping surface 8, formed on the second basic structure 5, and at least one gripping device 9, arranged on the first basic structure 3, connected to the storage device 10 and electrically operable to couple to/uncouple from the gripping surface 8.
  • the gripping device 9 comprises a clamping element which can be alternately positioned in a closed position, wherein it retains the gripping surface 8, and in an open position wherein it releases the gripping surface 8.
  • the gripping device 9 is normally maintained in the closed position through the use of a mechanical device of the type, e.g., of a spring.
  • the gripping device 9 is allocated to the open position thanks to the operation of an electrical actuator powered by the storage device 10.
  • the mutual fastening/release means 8, 9 may be of the magnetic type and, e.g., the gripping surface 8 is made, at least partly, of a magnetic material while the gripping device 9 is made of a metal material.
  • the storage device 10 delivers energy only when the units 2, 4 must be uncoupled; otherwise, no energy expenditure is required to maintain the units 2, 4 associated.
  • the particular expedient of arranging the storage device 10 on board the first unit 2 allows powering the mutual fastening/release means 8, 9 independently from the industrial robot R and without the use of connecting cables.
  • the tool assembly 1 comprises quick attachment/detachment means 11, 12 of the first unit 2 to/from the extremal portion A.
  • the quick attachment/detachment means 11, 12 are arranged on the first basic structure 3, are connected to the storage device 10, and are electrically operable to fasten/release the first basic structure 3 to/from the extremal portion A.
  • the quick attachment/detachment means 11, 12 allow rapid coupling/uncoupling of the first unit 2 to/from the industrial robot R so as to facilitate a rapid change of the tool assembly 1 employed.
  • the quick attachment/detachment means 11, 12 comprise a quick attachment/detachment device 11 arranged on the first basic structure 3 and electrically operable to couple/uncouple with at least one quick attachment/detachment surface 12 associated with the extremal portion A.
  • the quick attachment/detachment means 11, 12 are of the mechanical type and the quick attachment/detachment device 11 comprises a gripper element which is alternately positionable in a closed position, wherein it retains the quick attachment/detachment surface 12 and in an open position, wherein it releases the quick attachment/detachment surface 12.
  • the quick attachment/detachment device 11 is normally held in the closed position through the use of a mechanical device of the type of, e.g., a spring, and is allocated to the open position through the operation of an electric actuator powered by the storage device 10.
  • the quick attachment/detachment means 11, 12 may be of the magnetic type and, e.g., the quick attachment/detachment surface 12 is made, at least partly, of a ferromagnetic material while the quick attachment/detachment device 11 is made of a metal material.
  • the magnetic attraction force generated between them holds them coupled by firmly associating the first unit 2 with the extremal portion A.
  • the storage device 10 delivers energy only when the first unit 2 is uncoupled from the extremal portion A; otherwise, no energy expenditure is required to maintain the first unit 2 associated with the extremal portion A.
  • the first unit 2 is associated with the extremal portion A through mechanical fixing means of the type, e.g., of screws which are manually screwed/unscrewed by an operator as needed.
  • the tool assembly 1 comprises first charging means 13 of the storage device 10 associated with the first basic structure 3 and connectable to at least one external source of electrical energy.
  • the first charging means 13 are adapted to electrically charge the storage device 10 when connected to the external source of electrical energy.
  • the first charging means 13 comprise at least one electrical connector connected to the storage device 10 and connectable to at least one electrical distribution network.
  • the electrical connector is adapted to transfer electrical energy from the electrical network to the storage device 10.
  • the first charging means 13 comprise at least a first wireless charging device connected to the storage device 10 and associable with a charging station and adapted to transfer the electrical energy from the charging station to the storage device 10 by electromagnetic induction.
  • the first unit 2 is uncoupled from the extremal portion A and from the second unit 4 and, subsequently, the first unit 2 is positioned in a first charging area SI which has been schematically shown in Figure 1.
  • one of the first units 2 positioned in the first charging area SI is provided with an electrical connector which transfers electrical energy from the electrical network to the storage device 10 of the relevant first unit 2.
  • the other of the first units 2 positioned in the first charging area SI rests on a charging station and, in this case, the storage device 10 is energetically charged by electromagnetic induction.
  • the charging station is directly connected to the electrical network and the electrical current which is transferred from the electrical network to the charging station itself generates a magnetic field which invests the first wireless charging device, thereby promoting the transfer of electrical energy from the charging station to the storage device 10.
  • the first wireless charging device comprises an electrical coil mounted on board the first unit 2.
  • the second unit 4 comprises at least one storage unit 14 of electrical energy associated with the second basic structure 5.
  • the work tool 6, 7 is associated with the storage unit 14 and is electrically powered by the storage unit 14.
  • the storage unit 14 comprises a rechargeable battery pack associated with the second basic structure 5.
  • the work tool 6 is electrically powered by the storage unit 14, independently of the industrial robot R and without using power cables.
  • the tool assembly 1 comprises second charging means 15 of the storage unit 14 associated with the second basic structure 5 and connectable to at least one external source of electrical energy.
  • the second charging means 15 are adapted to electrically charge the storage unit 14 when connected to the external source of electrical energy.
  • the second charging means 15 comprise at least a second wireless charging device connected to the storage unit 14 and associable with a charging station and adapted to transfer the electrical energy from the charging station to the storage unit 14 by electromagnetic induction.
  • the second unit 4 is uncoupled from the first unit 2 and, thereafter, the second unit 4 is positioned in a second charging area S2, as shown in Figure 1.
  • the second wireless charging device preferably comprises an electrical coil which is invested by the variable magnetic field generated in the charging station, thereby promoting the transfer of electrical energy from the charging station to the storage unit 14.
  • the second charging means 15 comprise at least one electrical connector connected to the storage unit 14 and connectable to the electrical network and adapted to transfer the electrical energy from the electrical network to the storage unit 14.
  • the second charging station S2 also carries out the function of temporary storage of the second units 4 which are not used, and particularly, second units 4 provided with cutting tools 7 which do not need to be energetically powered to operate can also be stored there.
  • the second unit 4 provided with the work tool 7 is not associated with the charging station.
  • the tool assembly 1 comprises at least one of: first wireless transmission/receiving means 16 adapted to receive at least a first command signal from at least one management and control unit C of the industrial robot R for the activation/deactivation of the gripping device 9, the first wireless transmission/receiving means 16 being associated with the first basic structure 3; second wireless transmission/receiving means 17 adapted to receive at least a second command signal from the management and control unit C for the activation/deactivation of the work tool 6, 7, the second wireless transmission/receiving means 17 being associated with the second basic structure 5.
  • the first wireless transmission/receiving means 16 comprise at least a first wireless transmission/receiving device adapted to receive the first command signal sent by the management and control unit C.
  • the management and control unit C sends the first command signal to the first wireless transmission/receiving device which operates the linear actuator associated with the mutual fastening/release means 8, 9 in order to position the gripping device 9 in the open position.
  • the first wireless transmission/receiving device after receiving the second command signal from the management and control unit C, operates the linear actuator associated with the quick attachment/detachment means 11, 12 in order to position the quick attachment/detachment device 11 in the open position.
  • the storage device 10 electrically powers the first wireless transmission/receiving means 16.
  • the second wireless transmission/receiving means 17 comprise at least a second wireless transmission/receiving device adapted to receive the second command signal sent by the management and control unit C.
  • the actuation of the work tool 6, 7 is directly managed by the management and control unit C which sends the second command signal to the second wireless transmission/receiving device which operates the work tool 6, 7.
  • the storage unit 14 electrically powers the second wireless transmission/receiving means 17.
  • the particular solution of providing the wireless transmission/receiving means 16, 17 allows easily controlling the mutual fastening/release means 8, 9, the quick attachment/detachment means 11, 12 and the work tool 6, 7 without using data transmission devices of the wired type.
  • the tool assembly 1 comprises transfer means 18 of electrical energy from the second unit 4 to the first unit 2, the transfer means 18 being of the wireless type.
  • the storage unit 14 may transfer electrical energy to the storage device 10 by exploiting the principle of electromagnetic induction.
  • the electrical energy stored in the storage unit 14 generates a variable magnetic field in the second wireless charging device which invests the first wireless charging device thus allowing energy transfer by electromagnetic induction from the storage unit 14 to the storage device 10.
  • the tool assembly according to the invention makes it possible to limit the amount of dirt that is deposited on the tool assembly itself and/or on the industrial robot, since the energy supply of the tool assembly and the transfer of data from the industrial robot to the tool assembly takes place in the wireless mode, that is, without the use of electrical cables and/or data transmission cables on which dirt can easily be deposited.
  • the tool assembly according to the invention improves the mobility and operability of the industrial robot with which it is associated, since the absence of electrical cables and/or of data transmission cables positioned outside the robot does not obstruct the movement of the industrial robot itself.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un ensemble outil (1) qui comprend : - une première unité (2) comprenant une première structure de base (3) pouvant être associée à une partie extrémale (A) d'un robot industriel (R) ; - une seconde unité (4) comprenant une seconde structure de base (5), pouvant être associée à la première structure de base (3), et un outil de travail (6, 7) associé à la seconde structure de base (5) ; des moyens de fixation/libération mutuels (8, 9) de la première unité (2) et de la seconde unité (4) ; la première unité (2) comprend un dispositif de stockage (10) pour stocker de l'énergie électrique associée à la première structure de base (3) ; les moyens de fixation/libération mutuels (8, 9) comprennent une surface de préhension (8) formée sur la seconde structure de base (5), et un dispositif de préhension (9), agencé sur la première structure de base (3), relié au dispositif de stockage (10) et pouvant être actionné électriquement pour se coupler à la surface de préhension (8)/se désolidariser de celle-ci.
PCT/IB2021/061702 2020-12-21 2021-12-14 Ensemble outil pour des robots industriels WO2022137017A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT202000031742 2020-12-21
IT102020000031742 2020-12-21

Publications (1)

Publication Number Publication Date
WO2022137017A1 true WO2022137017A1 (fr) 2022-06-30

Family

ID=74858664

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2021/061702 WO2022137017A1 (fr) 2020-12-21 2021-12-14 Ensemble outil pour des robots industriels

Country Status (1)

Country Link
WO (1) WO2022137017A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4316744A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Robot de construction doté d'une interface interchangeable dotée d'une bobine et outil pour le robot de construction
WO2024028128A1 (fr) * 2022-08-03 2024-02-08 Hilti Aktiengesellschaft Robot de construction comprenant une interface de changement adaptable, et procédé
WO2024028127A1 (fr) * 2022-08-03 2024-02-08 Hilti Aktiengesellschaft Robot de construction comprenant une interface de changement avec une bobine et outil pour le robot de construction

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070276538A1 (en) * 2003-12-17 2007-11-29 Abb Research Ltd. Tool for an Industrial Robot
EP3135441A1 (fr) * 2015-08-26 2017-03-01 Airbus Operations GmbH Kit d'assemblage de robot modulaire, essaim de robots modularisés et procédé permettant d'exécuter des tâches par un essaim de robots modularisés
US20200009717A1 (en) * 2019-05-28 2020-01-09 Lg Electronics Inc. Master and slave of robot tool changing system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070276538A1 (en) * 2003-12-17 2007-11-29 Abb Research Ltd. Tool for an Industrial Robot
EP3135441A1 (fr) * 2015-08-26 2017-03-01 Airbus Operations GmbH Kit d'assemblage de robot modulaire, essaim de robots modularisés et procédé permettant d'exécuter des tâches par un essaim de robots modularisés
US20200009717A1 (en) * 2019-05-28 2020-01-09 Lg Electronics Inc. Master and slave of robot tool changing system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4316744A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Robot de construction doté d'une interface interchangeable dotée d'une bobine et outil pour le robot de construction
EP4316745A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Robot de construction doté d'une interface interchangeable réglable et procédé
WO2024028128A1 (fr) * 2022-08-03 2024-02-08 Hilti Aktiengesellschaft Robot de construction comprenant une interface de changement adaptable, et procédé
WO2024028127A1 (fr) * 2022-08-03 2024-02-08 Hilti Aktiengesellschaft Robot de construction comprenant une interface de changement avec une bobine et outil pour le robot de construction

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