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公开(公告)号：US12122041B2
公开(公告)日：2024-10-22
申请号：US17276285
申请日：2019-08-05
申请人： GIMATIC S.R.L.
发明人： Giuseppe Bellandi
CPC分类号： B25J15/0416 , B25J19/0033
摘要： A tool changer is described, the tool changer includes a robot-side portion having a longitudinal axis and fixable to a manipulator, and a tool-side portion fixable to a tool and abuts against the robot- side portion along the longitudinal axis. The tool changer also includes a lock to lock the tool-side portion on the robot-side portion, and an actuator of the lock. The lock is selectively movable by the actuator between a locked position, where it engages the tool-side portion that abuts against the robot-side portion, thereby preventing the separation of the two portions of the tool changer, and an unlocked position, where it does not engage the tool-side portion, which can therefore be separated from the robot- side portion. The actuator of the lock is an electric motor whose drive shaft rotates on a rotation axis parallel to the longitudinal axis.
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公开(公告)号：US09696516B2
公开(公告)日：2017-07-04
申请号：US14490419
申请日：2014-09-18
发明人： Yin-Wu Lai
IPC分类号： G02B7/182 , B25G3/38 , B25J15/04 , B25J1/04 , F21L14/02 , A47G1/16 , B25G1/04 , B25J1/00 , F21V33/00 , B25J15/06
CPC分类号： G02B7/182 , A47G1/16 , B25G1/04 , B25G3/38 , B25J1/00 , B25J1/04 , B25J15/0416 , B25J15/0608 , F21L14/02 , F21V33/0084 , G02B7/1822
摘要： A vehicle repair hand tool has a handle, a connecting rod, a connecting unit and a working unit. The connecting rod is connected with the handle. The connecting unit is connected with the connecting rod and has an engagement hole. The working unit is connected with the connector and has a base, an engagement unit and a working body. The base has a sliding recess and a recess opening formed in a bottom of the sliding recess. The engagement unit is mounted in the sliding recess and has a sliding block slidably mounted in the sliding recess. The engagement unit further has an engagement ball mounted in the recess opening, sheltered by the sliding block, and selectively engaged in the engagement hole. The working body is mounted on the base.
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公开(公告)号：US20150043960A1
公开(公告)日：2015-02-12
申请号：US14384117
申请日：2013-03-07
申请人： ROBOTOOLS S.R.L.
发明人： Elio Strobietto
IPC分类号： B25J15/04
CPC分类号： B25J15/0416 , B23B31/1071 , B25J15/04 , Y10T403/22
摘要： A device for connecting a tool to an arm of a robot, comprising: -a body (2; 32) having an annular wall provided with openings (6; 36), received within which are one or more balls (8; 38), which are mobile within said openings between an inoperative position and an operative position, in said operative position said balls projecting from said wall to engage corresponding portions of said tool and clamping the latter on said arm; and -a piston (4; 34), configured for co-operating with said balls and governed fluid-dynamically between a first position and a second position, wherein, in said second position,- -said piston forces said-balls into said operative position, and, in said first position, said piston releases said balls so that they can move into said inoperative position. The device is characterized in that it comprises safety means (15, 55, 65, 75), which, in an active condition thereof, engage said piston (4; 34) in said second position so as to block it in said second position in order to prevent displacement of said balls into said inoperative position.
摘要翻译： 一种用于将工具连接到机器人的臂的装置，包括：主体（2; 32），其具有设置有开口（6; 36）的环形壁，其中容纳有一个或多个球（8; 38）， 在所述操作位置，所述滚珠在所述开口内在不工作位置和操作位置之间移动，所述滚珠从所述壁突出以接合所述工具的相应部分并将其夹在所述臂上; 和 - 活塞（4; 34），其构造成用于与所述滚珠协作并且在第一位置和第二位置之间动态地受到流体控制，其中在所述第二位置，所述活塞将所述球压入所述操作 并且在所述第一位置，所述活塞释放所述球，使得它们可以移动到所述非操作位置。 该装置的特征在于它包括安全装置（15,55,65,75），该安全装置在其活动状态下在所述第二位置与所述活塞（4; 34）接合，以便在所述第二位置 以防止所述球移动到所述非工作位置。
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公开(公告)号：US20240131729A1
公开(公告)日：2024-04-25
申请号：US18374886
申请日：2023-09-28
申请人： CORNING INCORPORATED
发明人： Justin Carl Fossum
CPC分类号： B25J15/0416 , B25J15/0441 , B25J17/02
摘要： Methods, systems, devices, and apparatuses that support techniques for material hand-off using a double-acting kinematic mount are described. A kinematic mount may be mounted between a flange of a robotic manipulator and with a tool for retrieval and placement of an object. The kinematic mount may include a first sub-component and a second sub-component, where a floating structure of the first sub-component may be coupled with a plate of the second sub-component by a preloading force (e.g., via one or more springs, magnets). The kinematic mount may be configured such that the floating structure may be decoupled from the plate of the second sub-component when a force greater than the preloading force is applied to a bottom plate of the first sub-component. The first sub-component may move independently of the second sub-component while decoupled, allowing the tool to align to the object during retrieval and placement.
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公开(公告)号：US11691294B2
公开(公告)日：2023-07-04
申请号：US17027931
申请日：2020-09-22
发明人： Daniel Allen Norton
CPC分类号： B25J15/0416 , B25J15/0019
摘要： A robotic tool changer includes master and tool assemblies. When the master and tool assemblies are coupled, rolling members project from the master assembly and contact opposed sloped surfaces of a plurality of cutouts formed in a bearing race in the tool assembly. By contacting opposed sloped surfaces of a plurality of cutouts with the rolling members, torsional freeplay between the master and tool assemblies is eliminated or minimized.
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公开(公告)号：US20230150145A1
公开(公告)日：2023-05-18
申请号：US18154941
申请日：2023-01-16
CPC分类号： B25J15/0408 , B23Q3/1554 , B25J19/0041 , B25J15/0019 , B25J18/00 , B25J19/0016 , B25J15/0416 , B25J9/0009 , B23Q2003/155404 , F16C2322/59
摘要： A method is provided. The method includes axially aligning a carrier portion of a separable robotic interface with a probe portion, the carrier portion coupled to a free end of a robotic arm, sliding the carrier portion over the probe portion in response to radially orienting a first alignment feature between the probe portion and the carrier portion, and in response compressing a spring-loaded plug in the carrier portion to release one or more ball bearings to make contact with an outer surface of the probe portion, the plug radially coupled to the carrier portion through a second alignment feature, seating the one or more ball bearings into matching recesses in the outer surface in response to sliding the carrier portion over the probe portion a predetermined distance, and rotating a locking ring of the carrier portion to axially lock the carrier portion to the probe portion.
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公开(公告)号：US20170232620A1
公开(公告)日：2017-08-17
申请号：US15583527
申请日：2017-05-01
CPC分类号： B25J17/02 , B23B31/1071 , B23B2231/46 , B25J15/0416 , Y10S901/29 , Y10T279/1041
摘要： A modular tooling receiver includes a housing having a wall and a port, and an engaging member movably disposed in the port. A lock actuator is moveable between a first position and a second position. The release lever is connected to the housing and is engageable with the lock actuator for causing movement of the lock actuator from the first position toward the second position. An anti-release mechanism is connected to the release lever and is movable between an engaged position, in which the anti-release mechanism engages the housing to restrain movement of the release lever to prevent movement of the lock actuator from the first position to the second position, and a disengaged position, in which the anti-release mechanism disengages the housing to allow movement of the release lever.
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公开(公告)号：US20170144230A1
公开(公告)日：2017-05-25
申请号：US15353156
申请日：2016-11-16
申请人： GIMATIC S.r.l.
发明人： Guerino ROSSO
CPC分类号： B23B31/4046 , B25J15/0416 , B25J15/0425
摘要： A tool changing device is described, which is provided with a male portion constrainable to a handler and a female portion constrainable to a tool to be handled and removably fittable on the male portion. Locking means are provided to lock the female portion on the male portion, and their respective actuator comprising an electric motor. The locking means are selectively movable between a locked position of the female portion and an unlocked position. Differently from conventional solutions, in the device according to the present invention advantageously the activation of the locking means is not assigned to the electric motor, on the contrary the latter has the task of only moving the locking means to the unlocked position; an elastic element is provided instead, which continuously applies a force holding the locking means in the locked position. The electric motor intervenes only to allow the female portion to be separated.
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9.发明公开公开(公告)号：US20240342927A1
公开(公告)日：2024-10-17
申请号：US18135489
申请日：2023-04-17
IPC分类号： B25J15/04
CPC分类号： B25J15/0425 , B25J15/0416
摘要： A manual robotic tool changer includes a coupling mechanism. The coupling mechanism is activated by moving a lever between open (decoupled) and closed (coupled) positions. When the lever reaches the closed position, a safety latch automatically engages and prevents the lever from moving towards the open position. To open the lever, the safety latch is first activated to disengage, then the lever is moved to the open position. To virtually eliminate the possibility of both the safety latch being accidentally actuated, and the lever being accidentally moved towards the open position, these actions require the application of forces in substantially opposite directions. Accordingly, it is impossible that a single force, inadvertently applied to any part of the tool changer, could both actuate the safety latch and open the lever. In some embodiments, actuation of the safety latch and opening the lever are both easily performed with one hand.
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10.发明公开公开(公告)号：US20240342926A1
公开(公告)日：2024-10-17
申请号：US18299933
申请日：2023-04-13
发明人： Roman BATZ , Marc ENGELHART , Helge SCHNEIDER
CPC分类号： B25J15/0416 , B25J9/0084
摘要： Tool coupling device with two coupling subdevices, wherein one of the coupling subdevices is intended for the distal end of a robot arm, and the other coupling subdevice is intended to be provided on a tool which can be coupled to the robot arm. The coupling subdevices are uncouplable from and to each other for the purpose of tool changing. A first of the coupling subdevices has a coupling socket extending in a coupling direction for insertion into a coupling recess of a second coupling subdevice. A plurality of ball channels are provided, within each of which a ball body is arranged as a locking body. The ball bodies are movable between a radially extended coupling position and a radially retracted release position. An actuating body for securing the ball bodies in the extended position is displaceable by an electric motor or a manual control lever.
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