초록 ▼

The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holde

The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective. In this manner it is possible during the screwing process to connect connectors (24) present at the operating part (10) with connector counterpieces (25) provided at the tool holder (7) in order to automatically achieve a transfer of energy, cooling and/or pressure medium.

대표청구항 ▼

A coupling arrangement for the automatic gripping and releasing of a tool for use with a last drive member of a multi-axial manipulator, the last drive member having an axis of rotation, the coupling arrangement comprising: a first coupling part,operatively connected to the last drive member, having

A coupling arrangement for the automatic gripping and releasing of a tool for use with a last drive member of a multi-axial manipulator, the last drive member having an axis of rotation, the coupling arrangement comprising: a first coupling part,operatively connected to the last drive member, having a first operating element and a second operating element, each of the first and second operating elements having an axis of rotation coincident with the axis of rotation of the last drive member, said first operating element being concentrically mounted on said second operating element; a second coupling part, connected to the tool, a rotational connector, having a first rotational connector part associated with said second operating element and a second rotational connector part connected with said second coupling part; rotational barrier means, associated with said first operating element and engageable with said second coupling part, for preventing relative rotation between said first operating element and said second coupling part; clutch means for fixing said first operating element relative to said second operating element and for releasing said first operating element relative to said second operating element when said rotational barrier means acts to prevent said first operating element from rotating relative to said second coupling part, thereby allowing said first rotational connector part to rotate, upon rotation of the last drive member and said second operating element, to allow engagement of said first and second rotational connector part, while said rotation barrier means prevents relative rotation between said first operating element and said second coupling part and said drive member acts as energy source to rotate together the two coupling parts.