DE602007011885D1 - Kupplungsvorrichtung für einen Roboterarm - Google Patents
Kupplungsvorrichtung für einen RoboterarmInfo
- Publication number
- DE602007011885D1 DE602007011885D1 DE602007011885T DE602007011885T DE602007011885D1 DE 602007011885 D1 DE602007011885 D1 DE 602007011885D1 DE 602007011885 T DE602007011885 T DE 602007011885T DE 602007011885 T DE602007011885 T DE 602007011885T DE 602007011885 D1 DE602007011885 D1 DE 602007011885D1
- Authority
- DE
- Germany
- Prior art keywords
- coupling device
- robot arm
- robot
- arm
- coupling
- 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.)
- Active
Links
Classifications
-
- 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
- B25J15/0408—Connections means
- B25J15/0416—Connections means having balls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
- B23B31/1071—Retention by balls
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
-
- 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
-
- 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
- B25J15/0408—Connections means
- B25J15/045—Connections means having screw means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/57—Distinct end coupler
- Y10T403/5793—Distinct end coupler including member wedging or camming means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Gripping On Spindles (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007062701A JP4126074B1 (ja) | 2007-03-13 | 2007-03-13 | ロボットアームカップリング装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602007011885D1 true DE602007011885D1 (de) | 2011-02-24 |
Family
ID=38564464
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602007011885T Active DE602007011885D1 (de) | 2007-03-13 | 2007-07-12 | Kupplungsvorrichtung für einen Roboterarm |
Country Status (8)
Country | Link |
---|---|
US (1) | US7559265B2 (de) |
EP (1) | EP1970170B1 (de) |
JP (1) | JP4126074B1 (de) |
KR (1) | KR101370247B1 (de) |
CN (1) | CN101264605B (de) |
DE (1) | DE602007011885D1 (de) |
ES (1) | ES2359524T3 (de) |
TW (1) | TWI382902B (de) |
Families Citing this family (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100857149B1 (ko) * | 2006-07-04 | 2008-09-05 | 한국원자력연구원 | 텔레스코픽 서보매니퓰레이터 탈부착장치 |
JP2009023188A (ja) * | 2007-07-19 | 2009-02-05 | Star Seiki Co Ltd | 金型着脱装置及び金型着脱方法 |
US8992113B2 (en) | 2009-06-08 | 2015-03-31 | Re2, Inc. | Robust manual connector for robotic arm end effector |
US8382177B2 (en) * | 2009-06-11 | 2013-02-26 | Re2, Inc. | Quick-change finger for robotic gripper |
JP5272935B2 (ja) * | 2009-07-09 | 2013-08-28 | 村田機械株式会社 | カップリング装置 |
US10076844B2 (en) | 2009-08-10 | 2018-09-18 | Re2, Inc. | Automated tool change assembly for robotic arm |
SE534640C2 (sv) * | 2010-03-23 | 2011-11-01 | Assa Oem Ab | Handtagsanordning med aktiveringsorgan, ingreppsorgan och elektrisk drivanordning |
CN102198470B (zh) * | 2010-03-25 | 2015-07-29 | 赛恩倍吉科技顾问(深圳)有限公司 | 冲头组件及应用该冲头组件的模具 |
JP5656460B2 (ja) * | 2010-06-07 | 2015-01-21 | 株式会社スター精機 | マニピュレータのツール保持具 |
WO2011154034A1 (en) * | 2010-06-08 | 2011-12-15 | Abb Research Ltd | An industrial robot including a tool flange and a tool flange for an industrial robot |
CN102363303B (zh) * | 2011-06-14 | 2014-04-09 | 北京信息科技大学 | 一种机器人分体连接装置 |
DE202012100384U1 (de) * | 2012-02-06 | 2013-05-10 | Kuka Systems Gmbh | Kupplungseinrichtung |
JP5966010B2 (ja) * | 2012-09-21 | 2016-08-10 | ビー・エル・オートテック株式会社 | 工具交換装置 |
US9151343B2 (en) * | 2013-03-14 | 2015-10-06 | Ati Industrial Automation, Inc. | Ball lock compensator for use with a robotic device |
JP2014217909A (ja) * | 2013-05-07 | 2014-11-20 | ビー・エル・オートテック株式会社 | 工具交換装置用のマスター装置 |
JP6150042B2 (ja) * | 2013-03-29 | 2017-06-21 | ビー・エル・オートテック株式会社 | 工具交換装置用のマスター装置 |
JP6026960B2 (ja) * | 2013-06-14 | 2016-11-16 | ビー・エル・オートテック株式会社 | 工具交換装置用のマスター装置 |
KR102173420B1 (ko) * | 2013-03-29 | 2020-11-03 | 비엘 오토텍 가부시키가이샤 | 공구 교환 장치용의 마스터 장치 |
CN103395052B (zh) * | 2013-07-25 | 2015-04-08 | 爱佩仪中测(成都)精密仪器有限公司 | 可切换划线设备 |
CH709351A1 (de) * | 2014-03-11 | 2015-09-15 | Erowa Ag | Kupplungsvorrichtung für ein Handhabungsgerät. |
CN103963062A (zh) * | 2014-03-31 | 2014-08-06 | 宁波奥捷工业自动化有限公司 | 一种机械手末端转换盘装置 |
CN103978497B (zh) * | 2014-05-09 | 2016-06-29 | 哈尔滨工程大学 | 液压驱动式水下应急解脱装置 |
JP6475979B2 (ja) * | 2014-12-26 | 2019-02-27 | ニッタ株式会社 | 係合部品、雌型部材、及び工具交換装置 |
US10105855B2 (en) * | 2015-02-16 | 2018-10-23 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
KR102602379B1 (ko) | 2015-02-20 | 2023-11-16 | 스트리커 코포레이션 | 멸균 차단 조립체, 장착 시스템, 및 수술용 구성 요소들을 결합하기 위한 방법 |
ITUB20155846A1 (it) * | 2015-11-24 | 2017-05-24 | Gimatic S R L | Dispositivo cambia utensile |
CN105666512A (zh) * | 2016-04-05 | 2016-06-15 | 山东大学 | 一种机器人末端快速更换装置及更换方法 |
CN105697905A (zh) * | 2016-04-15 | 2016-06-22 | 姜俊博 | 气动水电气路快换主接头 |
CN106003136A (zh) * | 2016-06-21 | 2016-10-12 | 北京灵铱科技有限公司 | 一种机器人用快插关节 |
WO2018013056A1 (en) * | 2016-07-12 | 2018-01-18 | Kurve Automation Pte Ltd | A coupling assembly |
KR101914688B1 (ko) * | 2017-01-10 | 2018-11-05 | (주)주강로보테크 | 그리퍼 장착용 연결 모듈 |
JP6918535B2 (ja) * | 2017-03-22 | 2021-08-11 | キヤノン株式会社 | ロボット装置、交換ツール、ロボットアーム、ロボット装置を用いた物品の製造方法、ロボット装置の制御方法、制御プログラムおよび記録媒体 |
US11078945B2 (en) * | 2017-03-26 | 2021-08-03 | Verb Surgical Inc. | Coupler to attach robotic arm to surgical table |
JP6321852B1 (ja) * | 2017-04-06 | 2018-05-09 | エスアールエンジニアリング株式会社 | ロボットアームのカップリング装置 |
CN107414883B (zh) * | 2017-09-11 | 2023-11-17 | 清华大学深圳研究生院 | 一种基于磁力吸座的机械臂的关节连接装置 |
CN107433484A (zh) * | 2017-09-13 | 2017-12-05 | 西安精雕软件科技有限公司 | 一种托盘交换***标准抓取装置 |
US10731687B2 (en) * | 2017-11-22 | 2020-08-04 | Medos International Sarl | Instrument coupling interfaces and related methods |
SG10201801839XA (en) * | 2018-03-06 | 2019-10-30 | Goh Chiok Leong | A mounting structure |
CN108724151A (zh) * | 2018-07-19 | 2018-11-02 | 郑州领航机器人有限公司 | 机械手及机械手的工具连结装置 |
CN111251332A (zh) * | 2018-12-03 | 2020-06-09 | 武汉唯拓光纤激光工程有限公司 | 一种机器人用小型夹具 |
CN113316431A (zh) | 2018-12-04 | 2021-08-27 | 马科外科公司 | 用于联接外科部件的具有无菌屏障组件的安装*** |
KR102068935B1 (ko) * | 2019-07-22 | 2020-01-21 | 김정인 | 로봇팔의 자동 툴 체인저 |
CN110524565A (zh) * | 2019-09-19 | 2019-12-03 | 广西玉柴机器股份有限公司 | 一种抓取适配板的机械手装置 |
CN110614651A (zh) * | 2019-10-22 | 2019-12-27 | 北京海益同展信息科技有限公司 | 快速连接装置、功能臂及机器人 |
JP7390058B2 (ja) * | 2019-10-22 | 2023-12-01 | 株式会社コスメック | 連結装置 |
US11644053B2 (en) | 2019-11-26 | 2023-05-09 | Medos International Sarl | Instrument coupling interfaces and related methods |
CN111300465B (zh) * | 2020-02-06 | 2023-07-21 | 北京凡川智能机器人科技有限公司 | 一种机器人用可快速更换末端工具的接口 |
US11850733B2 (en) * | 2020-06-11 | 2023-12-26 | Ati Industrial Automation, Inc. | Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay |
EP3925737A1 (de) * | 2020-06-16 | 2021-12-22 | Roche Diagnostics GmbH | Greifsystem und laborautomatisierungssystem |
US20220063037A1 (en) * | 2020-08-25 | 2022-03-03 | Ati Industrial Automation, Inc. | Robotic Tool Changer Having Debris Passages for Channeling Debris from the Ball-Locking Mechanism |
US11691294B2 (en) * | 2020-09-22 | 2023-07-04 | Ati Industrial Automation, Inc. | Robotic tool changer coupling mechanism with increased torsional stiffness |
US11839440B2 (en) | 2021-07-30 | 2023-12-12 | Corindus, Inc. | Attachment for robotic medical system |
CN113883134B (zh) * | 2021-09-29 | 2023-03-28 | 东风本田汽车有限公司 | 一种部装定位连接装置及定位连接方法 |
CN116725682A (zh) * | 2022-09-06 | 2023-09-12 | 北京和华瑞博医疗科技有限公司 | 连接装置及手术机器人 |
CN115626480A (zh) * | 2022-10-31 | 2023-01-20 | 常州市亿圆顺自动化设备有限公司 | 一种自动化机械手的夹紧定位结构 |
Family Cites Families (12)
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US3658351A (en) * | 1970-04-03 | 1972-04-25 | Erickson Tool Co | Instant change tool holder |
AT357843B (de) * | 1978-11-23 | 1980-08-11 | Linsinger Ernst Dipl Ing Dr | Schnellspannvorrichtung zum befestigen von um- laufenden werkzeugen an der spindel einer werk- zeugmaschine |
JPS58186589A (ja) * | 1982-04-27 | 1983-10-31 | 富士通フアナツク株式会社 | 工業用ロボツトのハンド交換装置 |
FR2542243B1 (fr) * | 1983-03-11 | 1987-01-23 | Syspro | Porte-outil pour robot industriel |
IT1204833B (it) * | 1986-03-11 | 1989-03-10 | Antonio Ferraro | Dispositivo di bloccaggio e sbloccaggio assiale reciproco di due organi |
JP2505624B2 (ja) * | 1990-06-28 | 1996-06-12 | ビー・エル・オートテック株式会社 | ロボットア―ムカップリング装置用マスタプレ―ト及びツ―ルプレ―ト並びにそれらを組み合わせたロボットア―ムカップリング装置 |
US5086901A (en) * | 1991-02-14 | 1992-02-11 | Applied Robotics, Inc. | Robot overload detection device |
JP3043174B2 (ja) * | 1992-03-11 | 2000-05-22 | 株式会社山東鉄工所 | 布帛の連続前処理方法 |
US5398946A (en) * | 1993-12-29 | 1995-03-21 | Poly-Tech Industries | Chuck having one-step lock and release |
DE29718726U1 (de) | 1997-10-10 | 1999-02-18 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Wechselkupplung |
JP4063688B2 (ja) * | 2003-02-13 | 2008-03-19 | 株式会社元喜 | 水素回収型汚水汚泥処理装置 |
EP1757411B1 (de) * | 2004-05-18 | 2010-11-17 | BL Autotec, Ltd. | Masterplatte und werkzeugplatte für roboterarmkoppelvorrichtung und roboterarmkoppelvorrichtung |
-
2007
- 2007-03-13 JP JP2007062701A patent/JP4126074B1/ja active Active
- 2007-07-12 ES ES07112360T patent/ES2359524T3/es active Active
- 2007-07-12 DE DE602007011885T patent/DE602007011885D1/de active Active
- 2007-07-12 EP EP07112360A patent/EP1970170B1/de active Active
- 2007-08-03 TW TW096128492A patent/TWI382902B/zh active
- 2007-08-14 CN CN2007101400548A patent/CN101264605B/zh active Active
- 2007-08-17 KR KR1020070082695A patent/KR101370247B1/ko active IP Right Grant
- 2007-08-24 US US11/895,465 patent/US7559265B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP1970170B1 (de) | 2011-01-12 |
CN101264605A (zh) | 2008-09-17 |
KR101370247B1 (ko) | 2014-03-24 |
EP1970170A1 (de) | 2008-09-17 |
TW200836895A (en) | 2008-09-16 |
CN101264605B (zh) | 2012-01-11 |
US20080223169A1 (en) | 2008-09-18 |
TWI382902B (zh) | 2013-01-21 |
KR20080084534A (ko) | 2008-09-19 |
JP2008221390A (ja) | 2008-09-25 |
JP4126074B1 (ja) | 2008-07-30 |
US7559265B2 (en) | 2009-07-14 |
ES2359524T3 (es) | 2011-05-24 |
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