Material or article handling – Vertically swinging load support – Grab
Patent
1984-11-21
1987-03-24
Siemens, Terrance L.
Material or article handling
Vertically swinging load support
Grab
901 30, B25J 1504
Patent
active
046522034
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
The present invention relates to an industrial robot and, more particularly, to a hand changing device for industrial robots capable of detachably attaching a robot hand, selected from among various robot hands having different functions, to the free end of the arm of an industrial robot.
2. Background Art
Industrial robots are used widely in combination with machine tools for automatic machining and automatic assembling, and contribute to an improvement of the operational performance and to a reduction of labor. However, most conventional industrial robots are single-purpose robots designed for carrying out a specific work with a robot hand fixedly attached to the extremity of the robot arm. This constitution of conventional industrial robots is one of the factors causing deficient flexibility and versatility in the operational performance of industrial robots. Accordingly, the conventional industrial robot having such a constitution is unable to execute multiple working functions automatically and selectively. In view of such a disadvantage of the conventional industrial robot, there has been proposed an industrial robot having a changeable hand system, in which various kinds of changeable robot hands are prepared beforehand and are attached selectively and individually to the extremity of the robot arm.
DISCLOSURE OF THE INVENTION
Accordingly, it is an object of the present invention to provide a hand changing device, which is necessary for the above-mentioned changeable hand system, in order to enhance the working capability of an industrial robot by enabling various kinds of robot hands of different working functions to be automatically replaced and attached to a single industrial robot.
The present invention provides a hand changing device for industrial robots comprising a changer body mounted on the robot arm of an industrial robot and a changer adapter detachably attachable to the changer body and carrying a robot hand, in which the changer body has a clamping piston, clamping balls which are moved to a clamping position as the clamping piston moves upward and to an unclamping position as the clamping piston moves downward, and spring means which applies upward pressure continuously to the clamping piston. The changer adapter has an engaging part which engages the clamping balls of the changer body and the robot hand is replaced by a robot hand with a different function through the replacement of the changer adapter by another changer adapter.
According to the present invention, various kinds of robot hands are attached beforehand to a plurality of changer adapters respectively in preparation, and therefore the robot hands can be selectively and individually attached to the extremity of the robot arm of a single industrial robot, thereby enabling the industrial robot to carry out various robot work functions under the control of a robot control unit.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a longitudinal sectional view showing the respective constructions of a changer body and a changer adapter forming a hand changing device according to the present invention for industrial robots; and
FIG. 2 is a front elevation of the hand changing device of FIG. 1, in which the changer body is attached to the extremity of a robot arm.
BEST MODE FOR CARRYING OUT THE INVENTION
Referring to FIG. 1, a hand changing device includes a changer body 10 designed to be attached to the robot arm of an industrial robot and a changer adapter 50 carrying a robot hand 74. The changer body 10 is designed to be joined detachably at one end face 10a thereof to the robot arm and, in the ordinary operating setup, is fixedly attached to the robot arm by suitable means such as screw bolts. The changer adapter 50 is designed to be connected at the bottom end face 50a thereof to a robot hand 74. A robot hand 74, one of various robot hands having different functions, is attached individually to the changer adapter 50 beforehand by fixing means such as screw bolts. The changer body 10 has a b
REFERENCES:
patent: 3354787 (1965-10-01), Takamata
patent: 4281447 (1981-08-01), Miller et al.
patent: 4289414 (1981-09-01), Recker
Hamura Masayuki
Nakashima Seiichiro
Torii Nobutoshi
Fanuc Ltd.
Siemens Terrance L.
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