SE8702666L - Anordning for automatiskt byte av verktyg i en industrirobot forsedd med en verktygsuppberande arm - Google Patents

Anordning for automatiskt byte av verktyg i en industrirobot forsedd med en verktygsuppberande arm

Info

Publication number: SE8702666L
Authority: SE; Sweden
Prior art keywords: tool; tools; bottom provided; automatic replacement; making arm
Prior art date: 1986-07-16

Application number

SE8702666A

Other languages

English (en)

Other versions

SE468418B (sv

SE8702666D0 (sv

Inventor

G Marinoni

P Araudo

Original Assignee

Comau Spa

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.)

1986-07-16

Filing date

1987-06-26

Publication date

1988-01-17

1987-06-26 Application filed by Comau Spa filed Critical Comau Spa

1987-06-26 Publication of SE8702666D0 publication Critical patent/SE8702666D0/sv

1988-01-17 Publication of SE8702666L publication Critical patent/SE8702666L/sv

1993-01-18 Publication of SE468418B publication Critical patent/SE468418B/sv

Classifications

- 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
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/318—Supporting devices for electrode holders
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0063—Connecting non-slidable parts of machine tools to each other
- 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
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S279/00—Chucks or sockets
- Y10S279/90—Adapted for automatic tool changer
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S483/00—Tool changing
- Y10S483/901—Robot end effectors
- 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
- Y10T279/12—Chucks or sockets with fluid-pressure actuator
- Y10T279/1208—Chucks or sockets with fluid-pressure actuator with measuring, indicating or control means
- 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
- Y10T279/12—Chucks or sockets with fluid-pressure actuator
- Y10T279/1274—Radially reciprocating jaws
- Y10T279/1291—Fluid pressure moves jaws via mechanical connection
- 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
- Y10T279/19—Radially reciprocating jaws
- Y10T279/1961—Lever actuated
- 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
- Y10T483/00—Tool changing
- Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
- Y10T483/136—Responsive to tool
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1729—Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.]
- 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
- Y10T483/00—Tool changing
- Y10T483/19—Miscellaneous

Landscapes

Engineering & Computer Science (AREA)
Mechanical Engineering (AREA)
Robotics (AREA)
Manipulator (AREA)
Resistance Welding (AREA)
Automatic Tool Replacement In Machine Tools (AREA)

SE8702666A 1986-07-16 1987-06-26 Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm SE468418B (sv)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
IT67574/86A IT1193450B (it)	1986-07-16	1986-07-16	Dispositivo per il cambio automatico di attrezzi di robot industriali

Publications (3)

Publication Number	Publication Date
SE8702666D0 SE8702666D0 (sv)	1987-06-26
SE8702666L true SE8702666L (sv)	1988-01-17
SE468418B SE468418B (sv)	1993-01-18

Family

ID=11303552

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
SE8702666A SE468418B (sv)	1986-07-16	1987-06-26	Anordning foer automatiskt byte av verktyg i en industrirobot foersedd med en verktygsuppbaerande arm

Country Status (12)

Country	Link
US (1)	US4763401A (sv)
JP (1)	JPH0794074B2 (sv)
AT (1)	AT387743B (sv)
BE (1)	BE1000093A7 (sv)
CH (1)	CH670595A5 (sv)
DE (1)	DE3717765C2 (sv)
FR (1)	FR2601614B1 (sv)
GB (1)	GB2192608B (sv)
IT (1)	IT1193450B (sv)
NL (1)	NL192508C (sv)
SE (1)	SE468418B (sv)
SU (1)	SU1572404A3 (sv)

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JPH02121778A (ja) *	1988-10-24	1990-05-09	Applied Robotics Inc	自動工具交換装置
JPH02121777A (ja) *	1988-10-24	1990-05-09	Applied Robotics Inc	自動工具交換装置用の結合装置
JPH02121779A (ja) *	1988-10-24	1990-05-09	Applied Robotics Inc	自動工具交換装置
DE3911461A1 (de) *	1989-04-05	1990-10-11	Wilhelm Dinse	Vorrichtung zum befestigen und wechseln von werkzeugen
JPH0748384Y2 (ja) *	1990-07-11	1995-11-08	株式会社安川電機	ロボット用工具交換装置
US5065504A (en) *	1990-11-05	1991-11-19	Microelectronics And Computer Technology Corporation	Method of forming flexible metal leads on integrated circuits
SE512968C2 (sv) *	1991-10-21	2000-06-12	Rotech Tooling Ab	Svivelkoppling
US5210936A (en) *	1992-01-06	1993-05-18	Microelectronics And Computer Technology Corporation	Method and apparatus for the excise and lead form of TAB devices
JPH07939U (ja) *	1993-06-03	1995-01-06	宣寿浜名	ストレージコンベヤ及びドッグ装置
US5454775A (en) *	1994-09-13	1995-10-03	Applied Robotics, Inc.	Automated exchangeable parts feeding system
US5779609A (en) *	1996-01-16	1998-07-14	Applied Robotics, Inc.	Integrated stud welding robotic tool changing system
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FR2757438B1 (fr) *	1996-12-23	1999-03-05	Gohin Messain	Porte-outil de solidarisation amovible d'un outil a un organe de suspension
KR19980072284A (ko) *	1997-03-04	1998-11-05	이종수	로봇의 핸드 툴
SE512397C2 (sv) *	1998-05-20	2000-03-13	Alfa Laval Agri Ab	Dockningsanordning
USD431040S (en) *	1999-03-31	2000-09-19	Smc Corporation	Chuck of an industrial robot
DE19920291A1 (de) *	1999-05-04	2000-11-09	Emil Stark	Kupplungssystem für den Anschluß maschinenseitiger Versorgungsleitungen für Medien aller Art inkl. elektrischer Leitungen zwichen Werkzeugmaschinen und daran angekoppeltem Werkstückträger
US6491612B1 (en)	2000-10-23	2002-12-10	Ati Industrial Automation, Inc.	Stud welding tool changer
FR2833880B1 (fr) *	2001-12-21	2004-03-19	Abb Body In White	Changeur d'outil
DE10317340A1 (de) *	2003-04-15	2004-11-04	Ssa System-Spann Ag	Hochdruckkupplung für die Mediendurchführung an Schnellwechselsystemen
CN100436046C (zh) *	2006-02-11	2008-11-26	鸿富锦精密工业（深圳）有限公司	夹具更换装置
KR100857149B1 (ko) *	2006-07-04	2008-09-05	한국원자력연구원	텔레스코픽 서보매니퓰레이터 탈부착장치
DE102006040034A1 (de) *	2006-08-23	2008-03-20	Stäubli Tec-Systems GmbH	Kupplungssystem
US8751046B2 (en)	2007-08-02	2014-06-10	Kuka Systems Gmbh	Rotary connection coupling
DE202008003757U1 (de)	2008-03-18	2009-08-13	Kuka Systems Gmbh	Drehanschlusskupplung
DE102007042187B3 (de) *	2007-08-28	2009-04-09	IPR-Intelligente Peripherien für Roboter GmbH	Werkzeugwechselsystem für einen Industrieroboter
CN101607398B (zh) *	2008-06-18	2012-06-20	鸿富锦精密工业（深圳）有限公司	夹具更换装置
US8992113B2 (en) *	2009-06-08	2015-03-31	Re2, Inc.	Robust manual connector for robotic arm end effector
US10076844B2 (en) *	2009-08-10	2018-09-18	Re2, Inc.	Automated tool change assembly for robotic arm
DE102010004085A1 (de) *	2010-01-06	2011-07-07	DE-STA-CO Europe GmbH, 61440	Werkzeugwechsler
ITTO20130090A1 (it) *	2013-02-04	2014-08-05	Kgr Spa	Attuatore a fluido, particolarmente per controllare il movimento relativo dei bracci portaelettrodo di una pinza di saldatura a punti per resistenza.
DE202013105910U1 (de)	2013-12-23	2015-03-24	Kuka Systems Gmbh	Roboterwerkzeug
USD763336S1 (en) *	2014-07-31	2016-08-09	Abb Gomtec Gmbh	Robotic arm component
JP6454543B2 (ja) *	2014-12-26	2019-01-16	ニッタ株式会社	給電モジュール
JP6604531B2 (ja) *	2015-03-26	2019-11-13	ニッタ株式会社	雄型部材及び工具交換装置
JP6049918B1 (ja) *	2016-01-07	2016-12-21	Dmg森精機株式会社	工具着脱装置および工作機械
ITUB20160939A1 (it) *	2016-02-23	2017-08-23	Gimatic S R L	Dispositivo di connessione di utensili pneumatici ad un manipolatore
IT201800006402A1 (it) *	2018-06-18	2019-12-18		Dispositivo di cambio utensile per un braccio robotico
US10814420B2 (en)	2018-09-25	2020-10-27	Deere & Company	Automatic tip changer for burnback in an arc welding robot
CN109794950A (zh) *	2019-03-25	2019-05-24	重庆东渝中能实业有限公司	智能制造机器人
CN110757077B (zh) *	2019-12-02	2025-01-24	北京哈德曼自动化设备有限公司	一种定位装置
FR3111579B1 (fr) *	2020-06-17	2022-06-17	Le Creneau Ind	Équipement, notamment d’usinage
USD997110S1 (en) *	2021-05-19	2023-08-29	Zhejiang Dongyang Dongci Chengji Electronics Co., Ltd.	Circulator

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DE3513648A1 (de) *	1985-04-16	1986-10-23	Rudi 4018 Langenfeld Kirst	Greifvorrichtung fuer werkstuecke oder sonstige handhabungsteile

1986
- 1986-07-16 IT IT67574/86A patent/IT1193450B/it active
1987
- 1987-05-19 CH CH1922/87A patent/CH670595A5/it not_active IP Right Cessation
- 1987-05-20 GB GB8711867A patent/GB2192608B/en not_active Expired
- 1987-05-26 DE DE3717765A patent/DE3717765C2/de not_active Expired - Fee Related
- 1987-06-16 AT AT0152887A patent/AT387743B/de not_active IP Right Cessation
- 1987-06-17 NL NL8701411A patent/NL192508C/nl not_active IP Right Cessation
- 1987-06-26 SE SE8702666A patent/SE468418B/sv not_active IP Right Cessation
- 1987-07-01 JP JP62166239A patent/JPH0794074B2/ja not_active Expired - Lifetime
- 1987-07-08 US US07/071,114 patent/US4763401A/en not_active Expired - Fee Related
- 1987-07-14 BE BE8700778A patent/BE1000093A7/fr not_active IP Right Cessation
- 1987-07-15 SU SU874202918A patent/SU1572404A3/ru active
- 1987-07-15 FR FR878709927A patent/FR2601614B1/fr not_active Expired - Lifetime

Also Published As

Publication number	Publication date
JPH0794074B2 (ja)	1995-10-11
CH670595A5 (sv)	1989-06-30
FR2601614B1 (fr)	1992-04-10
GB2192608B (en)	1989-12-13
SU1572404A3 (ru)	1990-06-15
NL192508B (nl)	1997-05-01
US4763401A (en)	1988-08-16
DE3717765A1 (de)	1988-01-21
DE3717765C2 (de)	1997-05-28
NL192508C (nl)	1997-09-02
AT387743B (de)	1989-03-10
SE468418B (sv)	1993-01-18
GB8711867D0 (en)	1987-06-24
ATA152887A (de)	1988-08-15
BE1000093A7 (fr)	1988-02-23
IT1193450B (it)	1988-06-22
JPS6330183A (ja)	1988-02-08
GB2192608A (en)	1988-01-20
NL8701411A (nl)	1988-02-16
SE8702666D0 (sv)	1987-06-26
FR2601614A1 (fr)	1988-01-22
IT8667574A0 (it)	1986-07-16

Publication	Publication Date	Title
SE8702666L (sv)	1988-01-17	Anordning for automatiskt byte av verktyg i en industrirobot forsedd med en verktygsuppberande arm
SE8701333D0 (sv)	1987-03-31	Anordning vid industrirobotar
JPS6416344A (en)	1989-01-19	Tool housing magazine including tool exchanger and work housing magazine including work exchanger
GB2207655B (en)	1990-01-24	Robot arm for use as an industrial robot
DE69716141D1 (de)	2002-11-07	Handhaben von rohren in einer bohreinrichtung
EP0151819A3 (en)	1985-11-06	Mechanism for automatic changing of tools on industrial robots
SE8403799D0 (sv)	1984-07-19	Verktygsvexlingssystem
SE7609657L (sv)	1977-03-04	Sjelvinstellande anordning vid verktygsmaskin
SE8502177L (sv)	1986-11-04	Tapphallare
CA2088073A1 (en)	1993-07-28	Robot Hand for Aligning and Isolating a Work Tool
IT1203213B (it)	1989-02-15	Dispositivo manipolatore,particolarmente per i robot industriali
DE3769596D1 (de)	1991-05-29	Spannmittel fuer konische werkzeugschaefte.
ES2013256B3 (es)	1990-05-01	Dispositivo perfeccionado de pinza o mano de robot.
ATE63702T1 (de)	1991-06-15	Filterpresse.
ATE130237T1 (de)	1995-12-15	Getriebekupplung für manipulatorkopf.
ATE22030T1 (de)	1986-09-15	Greifer fuer industrieroboter.
ATE125185T1 (de)	1995-08-15	Roboterhand.
JPS55131452A (en)	1980-10-13	Machining center
IT8752863V0 (it)	1987-01-19	Dispositivo di collegamento di un attrezzo al polso del braccio manipolatore di un robot industriale
SU1414632A1 (ru)	1988-08-07	Захватна головка
FR2593109B1 (fr)	1988-04-22	Main de prehension de pieces pour bras de robot ou de manipulateur.
SU1227463A1 (ru)	1986-04-30	Манипул тор
GB2183183A (en)	1987-06-03	Multiple operation machine tool with automatic change of tools
ES8608601A1 (es)	1986-07-16	Dispositivo portaaccesorios,accionado neumaticamente,para maquinas de coser de tipo industrial
SU1440703A1 (ru)	1988-11-30	Схват

Legal Events

Date	Code	Title	Description
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1998-03-02	NUG	Patent has lapsed	Ref document number: 8702666-2 Format of ref document f/p: F

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1995-01-31

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1998-03-02

NUG

Patent has lapsed