CS265321B1 - Automated connecting equipment especially for industrial robots - Google Patents

Abstract

The solution relates to a coupling device, especially for industrial robots. The device is formed of a coupling piston, an actuating piston coaxially arranged in a coupling body, wherein the coupling piston is firmly connected to a coupling plate and the actuating piston is firmly connected to a control stone, wherein the control stone is slidably mounted in the coupling plate.

Description

265321 2

BACKGROUND OF THE INVENTION The present invention relates to an automated coupling device, particularly for industrial robots, for the replacement of gripper units with direct gripper control. Similarly known coupling devices for the replacement of industrial robot work units are designed in such a way that each unit must have its own drive part, for example a hydraulic motor. This achieves a high degree of flexibility, but is fully utilized in most applications. The most commonly used work units are rugged grippers, mainly based on mechanical principles. By using known coupling systems and a larger number of grippers, which need to be replaced in an automatic cycle, the drive of each gripper means a disproportionate increase in production and maintenance costs, further weight gain of the units, and increased failure rate.

These drawbacks are alleviated by the automated coupling device especially for industrial fabrications, the principle of which is that the coupling piston and the actuating piston are arranged coherently in the coupling body, wherein the coupling piston is rigidly connected to the coupling plate and the actuator is rigidly connected to the control stone with the groove for the rod of the gripper unit, wherein the control stone is slidably mounted in the opening of the connecting dock.

The advantage of the automated coupling device according to the invention is that the connecting piston for the force and shape connection of the gripper unit as well as the piston for the control of the jaws are built into one body. The grippers are thus much easier and do not need to have their own drive. The overall dimensions of the unit from the clamping flange to the center of the jaws are considerably reduced, which is beneficial for the industrial robot load.

An example of an embodiment of an automated coupling device according to the invention is shown in the accompanying drawings, wherein in FIG. Fig. 2 is a side view of the device; Fig. 3 is a view "P" of Fig. 1 in a relaxed state; 4 is a view of P in FIG. 1 in a clamped condition.

The automated coupling device, particularly for robots (FIGS. 1, 2, 3 and 4), comprises a coupling body 10, an insert 20, a stop flange 30, a coupling dock 50, wherein a coupling piston 40 and an actuating piston 70 are co-located in the body 10, the piston 40 is rigidly connected to the coupling plate 50, for example by means of a threaded connection, and the control piston 70 is rigidly connected to the control stone 90 with the groove 91 for the rod 122 of the gripper unit 120, wherein the control stone 90 is slidably mounted in the bore 53 of the connecting dock 50.

As the robot arm 140 moves in the direction of the arrow (FIG. 2), the connecting plate 50 is inserted into the recess 123 of the gripper unit 120 and the rod 122 of the gripper unit 120 is slid onto the control stone 90 with the groove 91. This sliding movement is limited by the transverse stop 80 fixedly connected to the stop a plate 30 and signaled by a transducer 130 located on the transverse 80. Pressure medium is supplied to this signal via the inlet 110a prior to the connecting piston40. The connecting plate 50, which is rigidly connected to the connecting piston 40, is moved to the dowels, wherein the positioning pins 51 mounted in the recess 52 of the connecting dock 50 are inserted into the associated recesses 121 formed on the gripper unit 120. By this movement, the connecting plate 50 presses against the stop surface 31 of the stop and the gripper unit 120 coincides with the coupling plate 50 and the stop plate 30. At the end of the movement, the signal from the gripper (e.g., the microswitch in the jaws) is switched by connecting a portion of the connector 100a mounted in the connection plate 50 to a portion of the connector 100b located in the gripper unit 120. Upon release, a pressure medium is fed through the inlet 110b behind the junction piston. The clamped loose state of the coupling dice 50 can be signaled, e.g., by proximity sensors, which are not shown in the accompanying drawings.

Upon reassembly and clamping of the gripper unit 120 with the coupling device, the actuation of the gripper unit 120 by the actuator piston 70 is via rod 122 and actuator 90. This movement occurs after the pressurized medium is supplied to the inlet 110c.

Claims (3)

OBJECT OF THE INVENTION An automated coupling device, in particular for industrial robots, comprising a coupling body, stop and clamping elements and a coupling that is characterized in that a coupling piston (40) and a control piston (70) are arranged coaxially in the coupling body (10), the connecting piston (40) is connected to the control stone (90) with a groove (91) for the rod (122) of the gripper unit (120), the control stone (90) being guided in the opening (52) of the connecting thatch (50). An automated coupling device according to claim 1, characterized in that the coupling plate (50) has positioning pins (51) in the recesses (52) for corresponding recesses (121) of the gripper unit (120). An automated coupling device according to items 1 and 2, characterized in that the coupling plate (50) and the gripper unit (120) are provided with an expandable electric signal transmission unit (100a, 100b).