Automatic tool changing mechanism for industrial robots
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B23K-009/12
B23Q-003/155
출원번호
US-0612912
(1984-05-22)
우선권정보
IT-67130 (1984-02-13)
발명자
/ 주소
Bisiach, Luciano
대리인 / 주소
Paul & Paul
인용정보
피인용 횟수 :
12인용 특허 :
3
초록▼
An automatic tool changing mechanism for industrial robots, comprising a coupling device mounted on a toolholder head of the robot, and a connection plate complementary to the coupling device and firmly secured to the tool, this latter being accommodated in a toolholder magazine. Fixing of the two p
An automatic tool changing mechanism for industrial robots, comprising a coupling device mounted on a toolholder head of the robot, and a connection plate complementary to the coupling device and firmly secured to the tool, this latter being accommodated in a toolholder magazine. Fixing of the two parts to each other is effected by rotation of a segmental crown gear mounted on the toolholder head and driven by actuator means mounted on the toolholder magazine. The mechanism further comprises a plurality of electrical and fluid connections energized simultaneously with the mechanical connection of the two parts and interrupted automatically on their separation.
대표청구항▼
1. An automatic tool changing mechanism for industrial robots with a toolholder head having a plurality of axes of movement and provided with a toolholder end flange, said mechanism comprising a connection plate firmly secured to a tool and having a projection provided with a plurality of radial
1. An automatic tool changing mechanism for industrial robots with a toolholder head having a plurality of axes of movement and provided with a toolholder end flange, said mechanism comprising a connection plate firmly secured to a tool and having a projection provided with a plurality of radial lugs and a corresponding plurality of resiliently compressible retainers mounted respectively on each radial lug; a coupling device for coupling said tool to the robot by means of said connection plate, said coupling device comprising a hollow cylinder firmly anchored to said toolholder end flange of said toolholder head of the robot, and an annular surface adapted to engage said projection of said connection plate of said tool, and a cylindrical outer surface rotatably supporting a segmental crown gear provided forwardly with a plurality of claws adjacent said radial lugs of said connection plate and peripherally with engagement means for rotating said segmental crown gear by means of external actuator means between a first unlocked position and a second locked position; a toolholder magazine comprising a frame arranged in a predetermined fixed position with respect to the robot and accommodating said tool with said connection plate in a predetermined position and having an actuator member engaging said engagement means on said segmental crown gear when said coupling device is in a position engaging said projection for rotating said segmental crown gear between said unlocked and locked positions; the arrangement being such that by moving said coupling device forwardly close to said connection plate of said tool located in said toolholder magazine, with said segmental crown gear in said unlocked position, said claws are released by said radial lugs and said engagement means of said segmental crown gear are gripped by said actuator member of said toolholder magazine so that when said segmental crown gear is moved into said locked position by actuation of said actuator member, said claws move behind said radial lugs to grip said resiliently compressible retainers and thus create a reaction pressure between said annular surface of said hollow cylinder and said projection on said connection plate whereas by moving said actuator member in the opposite direction said segmental crown gear is returned to said unlocked position to release said claws and thus said coupling device from said connection plate. 2. An automatic tool changing mechanism as claimed in claim 1, wherein said engagement means on said segmental crown gear comprises a toothed segment and said actuator member on said toolholder magazine comprises a rack moved by a piston rod of an actuator cylinder secured to said toolholder magazine so as to mesh with said toothed segment of said segmental crown gear as said coupling device on said toolholder head moves forwardly up to said connection plate accommodated in said toolholder magazine. 3. An automatic tool changing mechanism as claimed in claim 1, for an industrial robot having a pair of electric power feeding conductors extending through said toolholder head, wherein said hollow cylinder has in its center area a pair of conductor plates provided with respective opposed electric contact surfaces extending parallel to the axis of said hollow cylinder, with said conductor plates connected to said electric power feeding conductors in said toolholder head, said conductor plates being provided with a pair of opposed jaws each facing one of said conductor plates and supported by pressure means mounted on said hollow cylinder for moving said opposed jaws against said conductor plates on rotation of said segmental crown wheel from said unlocked to said locked position; and said connection plate of said tool carries a pair of electric contact plugs yieldingly supported in such a position as to be inserted each between one of said conductor plates and one of said jaws as said coupling device moves forwardly up to said connection plate of said tool with said segmental crown gear in said unlocked position, said electric contact plugs being restrained between said conductor plates and said jaws during movement of said segmental crown gear into said locked position. 4. An automatic tool changing mechanism as claimed in claim 3, wherein said pressure means of said jaws comprises a pair of rocker arms pivotally mounted in a fixed point of said hollow cylinder and each carrying at one end one of said jaws, with the opposed ends of said rocker arms pivotally connected to respective struts connected to each other on a cam follower slidably engaging a cam surface in the interior of said segmental crown gear so as to cause compression of said struts on rotation of said segmental crown gear from said unlocked to said locked position for moving said jaws up to said conductor plates. 5. An automatic tool changing mechanism as claimed in claim 3, wherein each of said electric contact plugs of said tool is secured to a respective insulating tab accommodated in an aperture of said projection of said connection plate with the interposition of an elastic element for imparting resilient support to said electric contact plugs. 6. An automatic tool changing mechanism as claimed in claim 1, wherein said engagement means on said segmental crown gear comprises a toothed segment and said actuator member on said toolholder magazine comprises a rack moved by a piston rod of an actuator cylinder secured to said toolholder magazine and said rack carries tabs engaging abutment surfaces on said connection plate when the latter is received in said toolholder magazine and said rack is in an unlocked position, said tabs being released from engagement with said abutment surfaces when said actuator cylinder is in a locked position. 7. An automatic tool changing mechanism as claimed in claim 1, wherein each of said resiliently compressible retainers comprises a cylindrical cartridge secured to an associated one of said radial lugs and containing a plurality of Belleville springs acting upon a pressure ball. 8. An automatic tool changing mechanism as claimed in claim 1, wherein said toolholder magazine is forwardly provided with pins insertable in holes in said connection plate of said tool for supporting said connection plate in said toolholder magazine and to provide reaction means against rotation of said segmental crown gear. 9. An automatic tool changing mechanism as claimed in claim 1, wherein said hollow cylinder is provided with plugs insertable in holes in said projection of said connection plate of said tool by moving said coupling device up to said tool received in said toolholder magazine to provide reaction means against rotation of said segmental crown gear. 10. An automatic tool changing mechanism as claimed in claim 1, wherein said hollow cylinder and said projection of said connection plate each have a center area provided with respective corresponding connectors adapted to be snugly fitted to one another by moving said coupling device forwardly up to said connection plate, said connectors being connected to auxiliary feed circuits of said robot and tool, respectively. 11. An automatic tool changing mechanism as claimed in claim 10, wherein said connectors on said hollow cylinder are supported by a cylindrical body fitted centrally into the interior of said hollow cylinder. 12. An automatic tool changing mechanism as claimed in claim 1, wherein there are three of each of said resiliently compressible retainers, radial lugs and claws equidistantly peripherally spaced around the axis of said hollow cylinder.
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이 특허에 인용된 특허 (3)
Favareto Marcello (Rivoli ITX) Anselmino Renato (Turin ITX), Automatic device for changing an electric welding gun, operated by the arm of a programmable manipulator.
Balaud Daniel (Fontenay Aux Roses FRX) Keledjian Gaston (Boulogne-Billancourt FRX) Passemard Jean R. (Bailly-Roma Invilliers FRX), Production-line automatic machine.
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