Handling: hand and hoist-line implements – Grapple – Load shifting
Patent
1987-09-30
1989-11-14
Cherry, Johnny D.
Handling: hand and hoist-line implements
Grapple
Load shifting
901 29, 901 30, 901 41, B25J 1702
Patent
active
048802654
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention is based on a robot arm with an assembly flange for tools. In a known robot arm of this generic type (DE-Al 33 40 912), the assembly flange is constructed as a supporting basic element of a gripper exchange system which is matched with the gripper tools used in this system with respect to the mechanical centering and fastening means as well as the line connections for power supply and control and therefore forms a part of a special structural component which is not suitable for the assembly of other tools.
SUMMARY OF THE INVENTION
Accordingly, it is an object of the present invention to provide a robot arm with an assembly flange for tools which avoids the disadvantages of the prior art.
In keeping with these objects and with others which will become apparent hereinafter, one feature of the present invention resides, briefly stated, in a robot arm comprising a robot arm unit, and an assembly flange provided with means for centering and fastening of tools, the assembly flange being formed as a wall of a housing member fastened to the robot arm element and having an interior space through which line portions for power supply and control on a robot arm element side can pass, the wall having a plurality of sides and being provided on the sides with openings, a plurality of cover plates arranged to cover the openings, at least one of the cover plates being provided with internal connections for the line portions on the robot arm element side, and also being provided with means for connecting the internal connections with further elements.
The arrangement, according to the invention, which comprises the above mentioned characterizing features, has the advantage that the assembly flange is connectable with variously designed tools and tool exchange systems for various cases of use of the robot arm, wherein the adaptation is effected only by means of the exchange of standardized, plug-in structural elements and line elements. The assembly flange, according to the invention, is distinguished, in addition, by a construction which is modular, compact and service-friendly.
Advantageous developments of the arrangement according to the main claim are made possible by means of the steps indicated in the subclaims.
In robot arms with pressure medium connections for the power supply of the tools which can be assembled, it is suggested that a cover plate be provided internally with a joint pressure medium connection for a plurality of extending pressure medium line portions which lead over pressure medium valves which are fastened externally at the cover plate and are connected with the internal pressure-medium connection via a distributor duct in the cover plate. In this way it is achieved that only a single pressure medium line is provided until the assembly flange, and the pressure medium valves are arranged directly at the power consumer, resulting in short clock times.
A simple and stable construction of the housing member forming the assembly flange results if this housing member is formed by means of a longitudinal portion of a drawn section with a frame-like rectangular cross section.
BRIEF DESCRIPTION OF THE DRAWING
An embodiment example of the invention is shown in the drawing and explained in more detail in the following description.
FIG. 1 shows a cross section through the robot arm according to line I--I in FIG. 2, and
FIGS. 2 and 3 each show a partial longitudinal section according to lines II--II and III--III in FIG. 1.
FIG. 4 shows a variant of a detail of the embodiment example seen in FIG. 2, and
FIG. 5 shows a variant of a detail from FIG. 3.
DESCRIPTION OF THE PREFERRED EMBODIMENT
A flange 11 is formed at the free end of a robot arm 10. A housing structural component, designated in its entirety by 12, is fastened to the flange 11. The basic element of this housing structural component 12 is a housing member 14 which is formed by means of a longitudinal portion of a drawn section having a frame-like rectangular cross section. The housing member 14 accord
REFERENCES:
patent: 4512709 (1985-04-01), Hennekes et al.
patent: 4636135 (1987-01-01), Bancon
patent: 4652203 (1987-03-01), Nakashima et al.
patent: 4664588 (1987-05-01), Newell et al.
patent: 4676142 (1987-06-01), McCormick et al.
Drexel Peter
Erne Hans
Gosdowski Gerhard
Gross Karl
Kirsten Ulrich
Cherry Johnny D.
Robert & Bosch GmbH
Striker Michael J.
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