ES2061143T3 - Cambiador para herramientas de una maquina herramienta. - Google Patents

Cambiador para herramientas de una maquina herramienta.

Info

Publication number
ES2061143T3
ES2061143T3 ES91116673T ES91116673T ES2061143T3 ES 2061143 T3 ES2061143 T3 ES 2061143T3 ES 91116673 T ES91116673 T ES 91116673T ES 91116673 T ES91116673 T ES 91116673T ES 2061143 T3 ES2061143 T3 ES 2061143T3
Authority
ES
Spain
Prior art keywords
closing
tools
clamps
drive
opening
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.)
Expired - Lifetime
Application number
ES91116673T
Other languages
English (en)
Inventor
Eugen Dipl-Ing Rutschle
Rudolf Haninger
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.)
Chiron Werke GmbH and Co KG
Original Assignee
Chiron Werke GmbH and Co KG
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 Chiron Werke GmbH and Co KG filed Critical Chiron Werke GmbH and Co KG
Application granted granted Critical
Publication of ES2061143T3 publication Critical patent/ES2061143T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/902—Tool grippers
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/18—Pivoted jaw
    • 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
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Manipulator (AREA)

Abstract

UN CAMBIADOR DE HERRAMIENTAS PARA HERRAMIENTAS DE UNA MAQUINA-HERRAMIENTAS TIENE UNA GARRA (13) SOBRE LA CUAL ESTAN COLOCADAS DOS MORDAZAS MOVILES (14) PARA EL AGARRE EN FORMA DE ARRASTRE DE LAS HERRAMIENTAS Y EN DONDE HAY UN ORGANO DE ACCIONAMIENTO (51) COLOCADO DE FORMA QUE SE PUEDE DESPLAZAR Y AXIAL EN DIRECCION LONGITUDINAL (30). ESTE ORGANO HACE OSCILAR A LAS MORDAZAS (14) ALREDEDOR DE CADA UNO DE SUS EJES DE OSCILAMIENTO Y DENTRO DE UNA POSICION EXTENSIBLE PARA LA ENTRADA Y SALIDA DE LAS HERRAMIENTAS, CONCRETAMENTE EN UNA POSICION DE CIERRE EN FORMA DE ARRASTRE PARA AGARRAR A LAS HERRAMIENTAS. ENTRE CADA ORGANO DE ACCIONAMIENTO (51) Y ENTRE CADA DOS MORDAZAS (14) HAY UN ENGRANAJE DE ALTURA (58, 57) Y PARA CADA DE LAS MORDAZAS UNA HAY UN ENGRANAJE DE CIERRE. CADA UNO DE LOS ENGRANAJES DE ABERTURA (58, 57) TIENE UNA SUPERFICIE INCLINADA (58) EN EL ORGANO DE ACCIONAMIENTO (51) QUE COINCIDE CON UNA SUPERFICIE CONTRARIA (57) PREVISTA EN LA MORDAZA (14) PARA LA ABERTURA DE CADA UNA DE LAS MORDAZAS (14). CADA ENGRANAJE DE CIERRE TIENE UNAS GUIAS INCLINADAS PREVISTAS EN EL ORGANO DE ACCIONAMIENTO (51) QUE SIRVEN PARA EL CIERRE DE CADA UNA DE LAS MORDAZAS (14) MEDIANTE UN CUERPO CILINDRICO (61) QUE TIENE UNA SUPERFICIE INSTALADA , COLOCADA EN LA MORDAZA (14). LOS DOS ENGRANAJES DE CIERRE BLOQUEAN LAS MORDAZAS (14) EN LA POSICION DE CIERRE EN ARRASTRE DE FORMA. EL ORGANO DE ACCIONAMIENTO (51) ESTA FORMADO A MODO DE BIELA (51) DE UN PISTON DE AVANCE (42) QUE SE ACCIONA MEDIANTE EL MEDIO QUE INFLUYE DOBLEMENTE, EL CUAL ESTA COLOCADO EN LA GARRA (13). LAS SUPERFICIES INCLINADAS (58) DEL ENGRANAJE DE ABERTURA (58, 57) SE PUEDEN LLEVAR HACIA LA ABERTURA CON LAS SUPERFICIES CONTRARIAS (57) Y HACIA LA INSTALACION, DONDE LAS SUPERFICIES INCLINADAS (58) ESTAN DESENGRANADAS CON LAS SUPERFICIES CONTRARIAS (57) (FIGURA 2) DURANTE EL CIERRE Y EN UNA POSICION DE CIERRE DE LAS MORDAZAS (14).
ES91116673T 1990-10-09 1991-09-30 Cambiador para herramientas de una maquina herramienta. Expired - Lifetime ES2061143T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4031996A DE4031996A1 (de) 1990-10-09 1990-10-09 Werkzeugwechsler fuer werkzeuge einer werkzeugmaschine

Publications (1)

Publication Number Publication Date
ES2061143T3 true ES2061143T3 (es) 1994-12-01

Family

ID=6415927

Family Applications (1)

Application Number Title Priority Date Filing Date
ES91116673T Expired - Lifetime ES2061143T3 (es) 1990-10-09 1991-09-30 Cambiador para herramientas de una maquina herramienta.

Country Status (5)

Country Link
US (1) US5277689A (es)
EP (1) EP0481275B1 (es)
JP (1) JP2632264B2 (es)
DE (2) DE4031996A1 (es)
ES (1) ES2061143T3 (es)

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DE4239768C2 (de) * 1992-11-26 1995-09-07 Doerries Scharmann Gmbh Vorrichtung zum Erfassen und Transportieren von Werkzeugen
KR100290336B1 (ko) * 1994-09-29 2001-06-01 이계안 머시닝 센터의 툴 클램핑 장치
JP2983154B2 (ja) * 1995-03-29 1999-11-29 株式会社椿本チエイン 工具保持装置
US5716310A (en) * 1995-11-01 1998-02-10 Excellon Automation Company Tool change apparatus
DE19718833C1 (de) * 1997-05-05 1998-09-24 Konstanze Saathoff Fa Halterung für kraftbetätigte Schrauber u. dgl.
DE19949094B4 (de) * 1999-10-12 2006-09-14 Chiron-Werke Gmbh & Co Kg Werkzeugwechsler mit zumindest einer Greiferhand
DE10144678A1 (de) * 2001-09-11 2003-04-03 Emag Maschfab Gmbh Fräs-und Bohrbearbeitungszentrum
DE102005006398B4 (de) * 2005-02-11 2007-07-19 Deckel Maho Pfronten Gmbh Vorrichtung zum Greifen und Halten eines Bauteils
DE102005031803A1 (de) * 2005-07-07 2007-01-11 Keppler, Karl Werkzeugwechsler
CA2614773C (en) * 2005-07-13 2014-10-07 Crown Equipment Corporation Pallet clamping device
US7854456B2 (en) * 2006-04-13 2010-12-21 Syron Engineering and Manufacturing, LLC Dual rod gripper
US7845698B2 (en) * 2007-03-05 2010-12-07 Syron Engineering & Manufacturing, Llc Gripper with adjustable bumper stops
DE102008051137A1 (de) * 2008-10-09 2010-04-15 T + S-Jakob Gmbh & Co. Kg Vorrichtung zum automatischen Werkzeug- oder Werkstückträgerwechsel
FI20100081A0 (fi) 2010-02-24 2010-02-24 Raumaster Paper Oy Laitteisto tarttujan vaihtoon sekä rullavarasto
ES2400136B1 (es) * 2011-07-29 2014-07-25 A. Ingenieria De Automatismos, S.A. Intercambiador de herramientas mejorado
CN102950492A (zh) * 2011-08-26 2013-03-06 吴江市海鑫机械有限公司 一种快速夹紧夹具
DE102011083794A1 (de) * 2011-09-29 2013-04-04 Hamilton Bonaduz Ag Greifvorrichtung für Probenbehälter
CN102756303A (zh) * 2012-07-19 2012-10-31 大连高金数控有限公司 自锁式气动机械手
US10160077B2 (en) 2013-03-22 2018-12-25 Dmg Mori Seiki Co., Ltd. Tool changing system and method
JP6078413B2 (ja) * 2013-04-30 2017-02-08 Dmg森精機株式会社 工具交換方法及び工作機械
DE102014218899A1 (de) * 2014-09-19 2016-03-24 Homag Holzbearbeitungssysteme Gmbh Greifeinrichtung für ein Bearbeitungswerkzeug, Speichersystem sowie Verfahren
DE102014014105A1 (de) * 2014-09-24 2016-03-24 Festo Ag & Co. Kg Greifvorrichtung
KR20170088908A (ko) * 2014-12-04 2017-08-02 봅스트 맥스 에스에이 슬리브 추출 디바이스, 편평한 기판을 변환하기 위한 유닛, 및 슬리브의 추출 방법
CN107442719B (zh) * 2017-09-25 2023-05-26 中铁隆昌铁路器材有限公司 旋转型张合支撑机构
CN111132798B (zh) 2017-09-28 2021-10-12 株式会社富士 元件把持件
JP6993427B2 (ja) * 2017-12-07 2022-01-13 株式会社Fuji メカチャック，産業用ロボット及びワーク移動装置
CN109368249A (zh) * 2018-11-07 2019-02-22 天津中环领先材料技术有限公司 一种磨片清洗机自动上料装置
JP6853231B2 (ja) * 2018-11-19 2021-03-31 ファナック株式会社 把持装置およびシステム
CN109877624A (zh) * 2019-04-16 2019-06-14 东创智能装备(深圳)有限公司 一种中空气动夹紧装置
US11571818B2 (en) * 2019-08-09 2023-02-07 Fanuc Corporation Machine tool hand
US11673260B2 (en) * 2020-03-31 2023-06-13 Ats Corporation Systems and methods for gripping cylindrical objects in a manufacturing environment
CN112171348B (zh) * 2020-08-28 2021-09-28 襄阳华中科技大学先进制造工程研究院 一种刀具自动化取存装置
CN112355945B (zh) * 2020-11-23 2022-05-20 四川极智朗润科技有限公司 一种硬管口液袋的管口限位机构
CN113927347B (zh) * 2021-12-20 2022-03-11 辽宁普蕾康精密机械制造有限公司 一种hsk刀柄抓取装置
CN114313976A (zh) * 2022-01-17 2022-04-12 南京威尔泰电气工程有限公司 缓冲气动夹爪
CN115041992A (zh) * 2022-05-26 2022-09-13 南京理工大学 一种可快速更换刀具的机械臂末端执行器
EP4311625A1 (de) 2022-07-29 2024-01-31 Schwäbische Werkzeugmaschinen GmbH Werkzeug-kettenmagazin mit werkzeuggreifern und mit kettenkrümmungsgesteuerter verriegelung der werkzeuggreifer
CN115533577B (zh) * 2022-11-29 2023-03-17 昆山奥玛泰机电设备有限公司 一种数控中心杆板夹持用防变形夹具

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US3012811A (en) * 1960-03-21 1961-12-12 Sandrock Raymond James Gripping tool
FR1577424A (es) * 1968-04-25 1969-08-08
US3718216A (en) * 1969-04-01 1973-02-27 Bliss Co Forming press system and workpiece handling and transfer apparatus therefor
CH544616A (de) * 1971-10-01 1973-11-30 Oerlikon Buehrle Ag Werkzeugwechselvorrichtung
US4211123A (en) * 1978-03-13 1980-07-08 Mack Corporation Motion conversion mechanism
DD139805A1 (de) * 1978-11-06 1980-01-23 Reinhard Glueck Greifvorrichtung einer werkzeug-oder werkstueckwechseleinrichtung an werkzeugmaschinen
DD149331A1 (de) * 1980-03-03 1981-07-08 Guenter Pachnicke Einrichtung zum selbsttaetigen einsetzen und entfernen von werkzeugen
US4419807A (en) * 1980-03-04 1983-12-13 Georges Moulin Tool change device
US4348044A (en) * 1980-10-10 1982-09-07 Cincinnati Milacron Inc. Article gripping apparatus
DE3042768A1 (de) * 1980-11-13 1982-07-08 L. Schuler GmbH, 7320 Göppingen Werkzeugmaschine mit einer werkzeugwechseleinrichtung
JPS637425U (es) * 1986-06-30 1988-01-19
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US4878705A (en) * 1988-03-18 1989-11-07 Texas Instruments Incorporated Robot gripper passively locked
DE8905795U1 (de) * 1989-05-09 1989-07-20 MAHO AG, 8962 Pfronten Werkzeugwechsler für programmgesteuerte Werkzeugmaschinen

Also Published As

Publication number Publication date
JP2632264B2 (ja) 1997-07-23
EP0481275B1 (de) 1994-07-27
EP0481275A1 (de) 1992-04-22
DE4031996C2 (es) 1993-08-05
DE59102340D1 (de) 1994-09-01
JPH0691468A (ja) 1994-04-05
US5277689A (en) 1994-01-11
DE4031996A1 (de) 1992-04-16

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