WO2022028804A2 - Poste de travail, effecteur terminal et dispositif de dépôt - Google Patents

Poste de travail, effecteur terminal et dispositif de dépôt Download PDF

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Publication number
WO2022028804A2
WO2022028804A2 PCT/EP2021/068866 EP2021068866W WO2022028804A2 WO 2022028804 A2 WO2022028804 A2 WO 2022028804A2 EP 2021068866 W EP2021068866 W EP 2021068866W WO 2022028804 A2 WO2022028804 A2 WO 2022028804A2
Authority
WO
WIPO (PCT)
Prior art keywords
tool
ring
end effector
workstation
grippers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2021/068866
Other languages
German (de)
English (en)
Other versions
WO2022028804A3 (fr
Inventor
Günter POMMERANZ
Marco Schneider
Rainer Weber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Voith Patent GmbH
Original Assignee
Voith Patent GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Voith Patent GmbH filed Critical Voith Patent GmbH
Publication of WO2022028804A2 publication Critical patent/WO2022028804A2/fr
Publication of WO2022028804A3 publication Critical patent/WO2022028804A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks

Definitions

  • the invention relates to an end effector for a robot arm according to the preamble of claim 1 and a storage device for a tool according to the preamble of claim 5 and a workstation according to the preamble of claim 6
  • robots especially in industry, has been increasing continuously for several years.
  • a common application of such robots is the screwing of components.
  • the robot includes an end effector with a screwdriver.
  • This screwdriver is equipped with a tool, usually in the form of a socket.
  • the object of the present invention is to propose an alternative to this, in order to enable automatic changing of a tool. This object is completely achieved by an end effector according to the characterizing part of claim 1, a storage device according to claim 5 and a workstation according to claim 6.
  • An end effector for a robot arm comprising a screwdriver and a coupling for attaching a tool, in particular a socket, the coupling having a ring which can be moved vertically to release and/or lock the tool.
  • the ring can be moved in particular a release position and a locking position.
  • the end effector also has a release device, which includes a movable gripper for gripping the ring and lifting means, in particular pneumatic lifting means, for the vertical movement of the gripper.
  • the coupling can be opened and locked by gripping and moving the ring vertically.
  • an automatic tool change is possible.
  • the tool can be designed not only as a socket, but also as a workpiece to be machined or machined, which has a suitable connection option to the coupling. It is then possible to grip this tool or workpiece by locking it, to move it using a robot arm, and then to release it again by releasing the release device.
  • the gripper is preferably designed in such a way that it can be moved into a gripping position for gripping the ring and into a ready position. In this ready position the ring is released. In the ready position, in particular, the ring or the coupling is not prevented from rotating during the screwing process.
  • the gripper is set up to grip the ring in a non-positive manner and, in particular, has gripping pneumatics.
  • the gripper can have two or more fingers or jaws which are pressed against the ring when gripping and thereby fix it.
  • Pneumatic actuation of the gripper is advantageous, but not mandatory.
  • an electric motor, hydraulic or other suitable actuation can also be provided.
  • the lifting means which are preferably operated pneumatically, but can also be operated electrically, hydraulically, etc.
  • the fingers or jaws are made entirely or partially of a polymer material.
  • the gripper is set up for positively gripping the ring, and in particular has an engagement which can be brought under the ring in the vertical direction.
  • non-positive and positive gripping can be particularly preferred.
  • interventions can be attached to some or all of the grippers or jaws in such a way that they are positioned below the ring when the grippers/fingers are pressed, and thereby also create a form fit in addition to the force fit.
  • an extension can be provided between the screwdriver and the coupling. This extension can be permanently or detachably connected to the screwdriver and the clutch.
  • the object is achieved by a storage device with at least one tool holder for a tool, in particular for a socket, the tool being able to be placed in the tool holder or removed therefrom.
  • the storage device comprises a controllable fixing device, in particular a controllable clamping device for fixing the tool in the tool holder.
  • Such a storage device is advantageous because the controllable fixing device allows the tools to be held or released as required.
  • the fixing device can again be operated pneumatically, or else by an electric motor, hydraulically or in some other suitable way.
  • the lifting means, grippers and fixing device can all be operated pneumatically.
  • the storage device like the end effector, is advantageous on its own.
  • the combination of end effector and storage device is also very advantageous, since the ability of the storage device to hold or release a tool when required greatly supports the tool change of a described end effector. This can take the form of a working device.
  • a work station comprising at least one robot arm with an end effector according to one aspect of the invention and at least one placement device according to a further aspect of the invention.
  • Such a workstation can in particular include a control computer that is set up to control the robot arm and/or the end effector and/or the storage device.
  • control computer can be set up to control the placement of a tool.
  • this control can include the following steps: i.) Moving the robot arm to a predetermined position so that the tool is located in the tool holder. ii) activating the fixing device so that the tool is fixed in the tool holder iii) activating the movable grippers to grip the ring iv) activating the lifting means for vertically moving the grippers so that the ring is moved from a locking position to a release position. v) removing the robot arm with the tool remaining in the tool holder
  • the method described here is advantageous because the tool is usually released when the ring is loosened. However, this can lead to malfunctions - due to continued operation or neglected maintenance. With the known couplings, moving the ring releases a ball that locks the tool. It can be due to pollution or the like It may happen that the ball does not come out of the locked position without a certain amount of force despite removing the ring. In the case of light tools in particular, the tool's own weight may not be sufficient to apply this force. Fixing the tool in the tool holder effectively prevents the tool from remaining on the end effector in such a case.
  • control computer can be set up, for example, to control the picking up of a tool.
  • the control can include the following steps: a) controlling the movable grippers for gripping the ring and controlling the lifting means for the vertical movement of the gripper so that the ring is in a release position. b) Moving the robot arm to a position where the clutch is in contact position with the tool. c) activating the lifting means for the vertical movement of the gripper so that the ring is moved from the release position to a locking position. d) commanding the movable grippers to move to a ready position and thereby releasing the ring
  • the method includes steps ii) and vi), ie fixing and releasing the tool in the tool holder.
  • steps ii) and vi) ie fixing and releasing the tool in the tool holder.
  • FIGS. 1a and 1b each show a screwing device known from the prior art, as can be used for an end effector according to one aspect of the invention.
  • FIG. 2 shows a detail from an end effector according to one aspect of the invention.
  • FIG. 3 shows a storage device according to one aspect of the invention together with a control computer for use in a workstation according to a further aspect of the invention.
  • FIGS. 1a and 1b each show a screwing device known from the prior art, as can be used for an end effector according to one aspect of the invention.
  • a screwdriver 11 and a coupling 13 can be seen.
  • the coupling 13 is not attached directly to the screwdriver 11, but via an extension 12.
  • the coupling 13 has a ring 5 which can be moved vertically, ie along the axis of rotation D of the screwdriver 11 .
  • a square 14 or other suitable connecting means 14 for a tool 7 is provided.
  • the ring 5 is in a release position 6a. In this position, a tool 7 can easily be attached to or removed from the connecting means 14 solve.
  • the ring 5 is in a locking position 6b. In this position, a tool that is attached to the connecting means 14 is locked and can be used for a work process. As shown in FIG. 1b, this locking can take place by means of a ball 15, which can be suitably fixed by moving the ring 5 into a locking position 6b and can be released again by moving the ring 5 into a release position 6a.
  • FIG. 2 shows a detail from an end effector 1 according to one aspect of the invention.
  • This comprises a screwing device as shown in FIGS. 1a and 1b.
  • a tool 7 for example a socket 7
  • the ring 5 is shown in the locking position 6b.
  • the end effector also has a gripper 3 .
  • the gripper 3 comprises two jaws 3a which can be moved horizontally, for example pneumatically. By pressing the jaws 3a against the ring 5, the ring 5 is gripped with a force fit.
  • each jaw 3a has an engagement 8. This is arranged at the lower end of the jaw 3a in such a way that it can be brought under the ring 5 at least partially in the vertical direction.
  • the end effector 1 also has lifting means 4 . These are set up to move the gripper 3 and possibly other parts of the release device up and/or down. These lifting means 4 usually work hydraulically.
  • FIG. 3 shows a storage device 20 according to an aspect of the invention.
  • this storage device 20 has three tool holders 21 for holding tools 7 .
  • These tools 7 can be designed as a socket 7, for example.
  • the tools 7 can be placed in or removed from the tool holder 21 from above.
  • the tool 7, which is still on the screwing device, can be moved into the tool holder 21 for storing.
  • the tool 7 can be detached from the connecting means 14 by releasing the coupling 13, in particular by means of a release device according to one aspect of the invention.
  • the storage device 20 also has one or more controllable fixing devices 22 .
  • a fixing device 22 can be provided for each tool holder 21 .
  • These fixing devices 22 can be designed as clamping devices 22 .
  • controllable fixing devices 22 can, for example, be controlled by a control computer 30 when used in a work station.
  • the tool 7 can be fixed or released in the tool holder 21 via the control by means of the fixing devices 22 . If the tool 7 is fixed, it is ensured that the tool 7 is released from the connecting means 14 when the screwing device is lifted, even if increased force is required for release, e.g. due to soiling of the ball 15.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un effecteur terminal pour un bras robotisé, comprenant une visseuse et un accouplement pour la fixation d'un outil, en particulier d'une douille, l'accouplement présentant une bague qui peut être déplacée verticalement pour détacher et/ou verrouiller l'outil, l'effecteur terminal présentant en outre un dispositif de détachement qui comprend une pince mobile pour saisir la bague ainsi que des moyens de levage, en particulier des moyens de levage pneumatiques pour le déplacement vertical de la pince. L'invention concerne en outre un dispositif de dépôt correspondant ainsi qu'un poste de travail correspondant.
PCT/EP2021/068866 2020-08-06 2021-07-07 Poste de travail, effecteur terminal et dispositif de dépôt Ceased WO2022028804A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020120738.7 2020-08-06
DE102020120738.7A DE102020120738A1 (de) 2020-08-06 2020-08-06 Arbeitsstation, Endeffektor und Ablagevorrichtung

Publications (2)

Publication Number Publication Date
WO2022028804A2 true WO2022028804A2 (fr) 2022-02-10
WO2022028804A3 WO2022028804A3 (fr) 2022-03-31

Family

ID=76971863

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/068866 Ceased WO2022028804A2 (fr) 2020-08-06 2021-07-07 Poste de travail, effecteur terminal et dispositif de dépôt

Country Status (2)

Country Link
DE (1) DE102020120738A1 (fr)
WO (1) WO2022028804A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102024107467A1 (de) * 2024-03-15 2025-09-18 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung zur Unterstützung der Ausführung von Schraubprozessen

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19616311C1 (de) 1996-04-24 1997-06-26 Abb Patent Gmbh Einrichtung zum Wechseln eines Schraubwerkzeuges
DE202011106501U1 (de) 2011-10-07 2011-12-13 Apex Brands, Inc. Wechselablagevorrichtung

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
US6641511B2 (en) * 2000-08-31 2003-11-04 Hurco Companies, Inc. Movable arm activated tool changer for machine tool system
DE10115467A1 (de) * 2001-03-29 2002-10-02 Duerr Systems Gmbh Werkzeugwechselsystem für eine Maschine
DE102012203221A1 (de) 2012-03-01 2013-09-05 Robert Bosch Gmbh Handwerkzeugmaschine
US10265816B2 (en) * 2017-04-20 2019-04-23 thyssenkrupp System Engineering AG Automatic quick exchange tool for nutrunner sockets
CN207189134U (zh) * 2017-08-02 2018-04-06 苏州迪纳精密设备有限公司 一种全自动可换刀头锁螺丝机
US20190111575A1 (en) * 2017-10-18 2019-04-18 Canon Kabushiki Kaisha Tool stocker, interchangeable tool, robot apparatus, robot system, control method of robot system, and storage medium
DE102018005826A1 (de) 2018-07-25 2019-01-03 Daimler Ag Adapter für eine Schraubvorrichtung

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19616311C1 (de) 1996-04-24 1997-06-26 Abb Patent Gmbh Einrichtung zum Wechseln eines Schraubwerkzeuges
DE202011106501U1 (de) 2011-10-07 2011-12-13 Apex Brands, Inc. Wechselablagevorrichtung

Also Published As

Publication number Publication date
DE102020120738A1 (de) 2022-02-10
WO2022028804A3 (fr) 2022-03-31

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