Material or article handling – Vertically swinging load support – Grab
Patent
1986-02-07
1987-12-01
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
901 41, 901 50, 901 30, B25J 1100
Patent
active
047100931
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention relates to a device for the automatic gripping and releasing of a tool holder by the last drive member of a multi-axial manipulator, where the last drive member and the tool holder carry coupling parts to be screwed to each other, and where the rotary drive of the last drive member is provided as an energy source for the screwing together of the two coupling parts readied for engagement by control of the manipulator.
A device with these features has become known through FR-PS No. 2,426,548. To a manipulator several tools are to be assigned, which it is to be possible to change quickly and automatically. The coupling elements here used are constructed in the manner of a bayonet closure, the pitch of the thread spirals being relatively small. This means that the two coupling parts are brought together almost to the final clamping position, with interengagement of the screw systems of the coupling parts. When the rotation drive of the last drive part of the manipulator is actuated, the bayonet closure parts engage one in the other, locking the coupling parts.
The known changing device presupposes that the connections for the transfer of energy, cooling medium, pressure medium or the like between manipulator and tool holder must be coupled manually afterward.
The invention, therefore, sets itself the task to develop a device for the automatic changing of the tool holders in manipulators which permits simultaneously with the changing process an automatic separating or connecting of these connectors for energy, cooling medium, pressure medium and the like, but provision must be made that the closing pressure required for the joining of the parts need not be supplied by the manipulator through its drive members with the exception of the last (rotation drive)
SUMMARY OF THE INVENTION
According to the invention, this problem is solved in that the coupling part connected with the last drive member consists of two operating elements concentrically mounted one on the other, of which one forms a rotation barrier with the coupling part present at the tool holder as the coupling parts come together, and the other operating element has the screw system, the two operating elements being connected together via a fixing mechanism releasable under the action of the rotation barrier.
This arrangement according to the invention makes it possible to provide the connectors required for the transfer of energy, cooling medium, pressure medium or the like at opposite points of the tool holder on the one hand, and, on the other hand, of the operating element fixed during screwing. A prerequisite of this is, however, that in contrast to the prior art screw systems are used which have a relatively small twist angle and a relatively high pitch, so that in the screwing process the two coupling parts converge by a considerable amount, e.g. 18 to 24 mm. In this manner, the stroke required for joining the individual connectors is produced. For this stroke, the connectors must be secured against rotation. This is achieved according to the invention in that during approach of the coupling parts, the operating element carrying the connectors engages into the tool holder and thus forms a rotation barrier. The operating element containing the screw system, however, can rotate under the drive of the last drive member and perform the screwing process, because it is mounted rotatably at the fixed operating element. But this relative rotational movement of the two operating elements is to be possible only when tool change takes place by screwing. Otherwise, in particular when the manipulator with or without tool is being moved, the two operating elements must be non-rotational relative to each other For this purpose the invention provides a fixing mechanism between the two operating elements which is actuated by pressure and which is released only when the screwing process during tool change is being carried out and one operating element is nonrotationally fixed to the tool holder.
The advantage of this
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patent: 4439075 (1984-03-01), Wiederkehr
Kikut Botho
Zimmer Ernst
Alexander Jay J.
Kuka Schweissanlagen & Roboter GmbH
Spar Robert J.
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