Tool changing – Tool transfer to or from matrix – Matrix including means to latch tool
Patent
1995-01-03
1996-05-07
Underwood, Donald W.
Tool changing
Tool transfer to or from matrix
Matrix including means to latch tool
483901, 483902, 901 41, B25J 1504
Patent
active
055140629
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention concerns a manipulator with at least one arm, on which a handline device is detachably mounted via a coupling piece,
Manipulators of this type in various shapes and designs are known. They are used especially for manipulating and operating objects, for example in clean rooms or in nuclear plants. The purpose of the manipulators is that the user does not come in contact with the objects to be handled.
If objects, for example nuclear fuel rods or the like are gripped and turned or operated, a corresponding handling apparatus is designed for this purpose and, for example, made as a gripper. In other cases it is necessary to perform different activities which require a different handling apparatus. Thus there is the problem of changing, respectively placing in a magazine, handling devices of different types and designs in areas which are not accessible to a user. This is the task of the present invention.
The fact that sliding bolts for releasing a latch between coupling piece and handling device, which bolts may be operated from the outside, are mounted in the coupling piece leads to the solution of this task.
That is, operating the sliding bolts from the outside, which may be accomplished by means of some object located in the inaccessible place, a wall or the like, releases the interlocking mechanism between coupling piece and handling device.
SUMMARY OF THE INVENTION
Since in the case of a simple loosening of course the handling device would fall down somewhere or be misplaced, the invention provides for a magazine for orderly depositing and holding of the handling device. For the sake of simplicity this magazine consists of two rods which are arranged approximately parallel to each other. Between these rods there are also two guides, which may be inserted into channels, which are molded into the handling apparatus. That is, the handling device is swivelled into the magazine by means of the manipulator, the guides inserting into corresponding channels in the handling device, and thus the handling device is placed in the magazine. However, at the same time the rods push on the above-mentioned sliding bolts, so that an interlocking mechanism in the coupling piece between coupling piece and handling apparatus is released.
In order to facilitate the swivelling and introduction, respectively also the insertion of the bolts, the magazine should have a funnel-shaped magazine opening which narrows inward. In this way the guides are introduced into the channels more easily and the sliding bolts may be slid along the funnel walls and thus guided inward.
In a specific embodiment the problem of unlatching is solved by means of one or several latches which are moved by the sliding bolt and bolts. In a simple embodiment the sliding bolt is connected with a latch via a swivelling lever, the swivelling lever having a fixed pivot point. Sliding bolt and latch are mounted over one another in the coupling piece so that they move opposite one another via the swivelling lever. For example, if the handling device rests with a pin in a graduated hole in the coupling piece and there grips the latch with a detent in a ring groove of the pin, this detent moves out of the locking position when the sliding bolt is pushed into the coupling piece and thus releases the pin. This is a simple but very effective configuration of the interlocking mechanism.
In order for the bolt to move back into its initial position, it is supported in its transverse hole by a coil spring. This is important in the case of the return of the handling device. For returning the handling device namely the coupling piece again is swivelled into the funnel-shaped mouth opening, the sliding bolts travelling inward. With this the latches move out of their latch position and the coupling piece can be placed on the handling piece, the graduated hole receiving the pins. Now the coupling piece is removed from the magazine with the handling device by means of the manipulator, the sliding bolts being driven out of the couplin
REFERENCES:
patent: 4913617 (1990-04-01), Nicholson
patent: 5044063 (1991-09-01), Voellmer
Stadele, deceased Erhard
Stadele, legal representative by Berta
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