Tool changing – Including machine tool or component
Patent
1996-02-28
1997-04-29
Briggs, William R.
Tool changing
Including machine tool or component
285136, 414 4, 483901, 901 41, B23Q 3155, F16L 3904
Patent
active
056243642
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention pertains to a tool change device for manipulators, which has a rotary connection for fluidic supply lines of the tool and more particularly to a tool change device for manipulators with a rotary connection which has a fixed part and a rotary part with ring channels and cross channels.
BACKGROUND OF THE INVENTION
Such a tool change device has been known from EP-B10 288 744. A rotary connection for fluidic supply lines of the tool, which has a fixed part with ring channels and a rotary part with cross channels, is present in the tool change device. The ring channels are arranged at the inner circumference of the fixed part and are positioned one behind the other in the direction of the power take-off axis of rotation of the manipulator. During the assembly of the rotary connection, the fixed part and the rotary part are fitted together in the direction of the power take-off axis of rotation of the manipulator. In the prior-art arrangement of the ring channels, this has the disadvantage that the seals between the ring channels may be damaged during the assembly. Due to the circumferential arrangement of the ring channels, the sealing depends exclusively on the quality of the seals arranged between the ring channels and their expansion volume. There is no possibility of retightening seals damaged during the assembly or even of compensating tolerance errors.
FR-A-2 596 495 shows a rotary and drive connection for the arm parts of a robot. Hydraulic rotary cylinders are provided for driving the arm parts which are rotatable in relation to one another. The rotary cylinder fastened to the rotated arm part is supplied by an external hydraulic pump via a rotary connection, which is arranged between the arm parts. The rotary connection forms a fixed part of the robot, and the two parts of the rotary connection are rigidly connected to one arm part each. The rotary connection has cross channels and ring channels arranged concentrically around the axis of rotation.
Another tool change device for manipulators has been known from EP-B10 164 091, but this has no rotary connection for the fluidic supply lines. The needed freedom of movement of the tool is achieved here due to the flexibility of the connected supply lines.
SUMMARY AND OBJECTS OF THE INVENTION
The object of the present invention is to show a tool change device for manipulators with a rotary connection, which has a higher reliability of assembly and operation.
According to the invention, a tool change device for manipulators is provided with a rotary connection for fluidic supply lines of the tool. The rotary connection has a .fixed part and a rotary part with ring channels and cross channels. The contact plane of the rotary connection is directed at right angles to the power take-off axis of rotation of the manipulator. The ring channels are arranged in concentric circles around the power take-off axis of rotation. The fixed part and the rotary part have flat contact surfaces wherein the contact surfaces are held together in a housing of a manipulator-side coupling part along the power take-off axis of rotation in an adjustable tensioning connection.
The design of the rotary part according to the present invention has the advantage that the seals can no longer be damaged during the assembly and their function during the operation is therefore compromised less. In addition, the rotary connection according to the present invention is less susceptible to tolerance. It has a better accuracy of fit and tightness. On the whole, there is a high reliability of operation and yet a shorter overall length. This is of great significance in light of heavy tools and high supporting moments.
The design of the rotary connection according to the present invention also makes it possible to hold together the fixed part and the rotary part in an adjustable tensioning locking and, as a result, possibly to adjust the pressing force and the pressing path of the seals. It is advantageous for this purpose to mount the rotary connect
REFERENCES:
patent: 4611377 (1986-09-01), McCormick et al.
patent: 4683912 (1987-08-01), Dubrosky
patent: 4767257 (1988-08-01), Kato
patent: 4809747 (1989-03-01), Choly et al.
patent: 5199748 (1993-04-01), Jung et al.
patent: 5205701 (1993-04-01), Kigami et al.
Briggs William R.
Kuka Schweissanlagen & Roboter GmbH
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