JP2018020427A - 工作機械にて使用するハンドリング装置 - Google Patents
工作機械にて使用するハンドリング装置 Download PDFInfo
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- 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
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- B23Q7/043—Construction of the grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B23Q7/046—Handling workpieces or tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Auxiliary Devices For Machine Tools (AREA)
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- Forklifts And Lifting Vehicles (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
【解決手段】ハンドリング装置1は、床スペース上に据付け可能なベース本体2と、ベース本体の上面に据付け可能で、複数のワークピース又は工具の保管をなす保管部本体3と、ベース本体に配置され、保管部本体から1つのワークピース及び/又は工具を受け取り且つ工作機械の対応するワークピース及び/又は工具のサポートに挿入するグリッパ装置6を有する、ハンドリングロボット5とを具備する。保管部本体の底面には複数の第1据付け要素が配置されていると共に、ベース本体の上面には複数の第1芯出し要素が配置されており、保管部本体がベース本体の上面に据付けされたとき、第1据付け要素は対をなす第1芯出し要素と相互作用して自己芯出しされ、保管部本体がベース本体の所定の参照位置に適合する。
【選択図】図1
Description
Claims (17)
- 工作機械にて使用するハンドリング装置であって
床スペース上に据付け可能なベース本体(2)と、
前記ベース本体(2)の上面に据付け可能で且つ複数のワークピース又は工具の保管をなす保管部本体(3)と
前記ベース本体(2)に配置され、前記保管部本体(3)から1つのワークピース及び/又は工具を取り出し、前記保管部本体(3)から取り出したワークピース及び/又は工具を前記工作機械(100)の対応したワークピース及び/又は工具のサポートに挿入させるグリッパ装置(6)を有するハンドリングロボット(5)と
を具備し、
前記保管部本体(3)の底面に複数の第1据付け要素(18)が配置され、且つ、前記ベース本体(2)の前記上面(2a)に複数の第1芯出し要素(19)が配置され、
前記保管部本体(3)が前記ベース本体(2)の前記上面(2a)に据え付けられたとき、前記第1据付け要素(18)が対をなす前記第1芯出し要素(19)と相互作用して自己芯出しされ、前記保管部本体(3)が前記ベース本体(2)に対する所定の参照位置に適合する、ハンドリング装置。 - 前記保管部本体(3)の前記底面には3つの第1据付け要素(18)が配置され、これら第1据付け要素(18)が3点設置を提供する、請求項1に記載のハンドリング装置。
- 前記ベース本体(2)の前記上面には3つの第1芯出し要素(19)が配置され、これら第1芯出し要素(19)が3点設置を提供する、請求項2に記載のハンドリング装置。
- 前記保管部本体(3)の前記底面には3つの第1据付け要素(18)が配置され、これら第1据付け要素(18)が第1位置にて前記保管部本体(3)の3点設置を提供し、
前記ベース本体(2)の前記上面には3つ第1芯出し要素(19)が配置され、これら第1芯出し要素(19)が第2位置にて前記保管部本体(3)の3点設置を提供する、請求項2に記載のハンドリング装置。 - 前記保管部本体(3)は、フォークリフトトラックのフォークアームのための2つの受け取り部(3a)を有し、フォークリフトトラックにより前記ベース本体(2)からの前記保管部本体(3)の取り出し且つ持ち上げがなされる、請求項1〜4の何れかに記載のハンドリング装置。
- 前記保管部本体(3)は、ロック要素(21)を有したロック機構を含み、前記ロック要素(21)は前記ベース本体(2)の前記上面(2a)に配置されたロック要素(20)に連結可能である、請求項5に記載のハンドリング装置。
- フォークリフトトラックのフォークアームが該フォークアームための保管部本体(3)の受け取り部(3a)に進入したとき、前記ロック機構は該ロック機構の前記ロック要素(21)をアンロックするように構成されている、請求項6に記載のハンドリング装置。
- 前記保管部本体(3)は保持プレート(4)を担持し、該保持プレート(4)は工具及び/又はワークピースのための複数の受け開口を有する、請求項1〜7の何れかに記載のハンドリング装置。
- 前記ハンドリングロボット(5)は、6つ制御可能な回転軸線を有し、
前記ハンドリングロボット(5)の前記グリッパ装置(6)は二重グリッパを有する、請求項1〜8の何れかに記載のハンドリング装置。 - 前記床スペース上に複数の第2芯出し要素(14)が配置されているとき、前記ベース本体(2)の底面には複数の第2据付け要素(13)が配置され、
前記ベース本体(2)が前記床スペースに載置された場合、前記第2据付け要素(13)は対をなす前記第2芯出し要素(14)と相互作用して自己芯出しされ、前記ベース本体(2)が前記床スペースに対して及び/又は前記床スペースに載置された工作機械(100)に対して所定の参照位置に適合する、請求項1〜9の何れかに記載のハンドリング装置。 - 前記ベース本体(2)の前記底面には3つの据付け要素(13)が配置され、これら据付け要素(13)は3点設置を提供する、請求項10に記載のハンドリング装置。
- 前記ハンドリング装置(1)に近接した領域で、人又は物体を検出するセンサ装置(7)を更に具備する、請求項1〜11の何れかに記載のハンドリング装置。
- 前記ハンドリング装置(1)は、前記センサ装置(7)が第1領域(A1)内で人又は物体を検出したときに作動を停止するか、及び/又は、前記センサ装置(7)が第2領域内で人又は物体を傑出したとき、減速した作動に切り換えられるように構成されている、請求項12に記載のハンドリング装置。
- 前記ハンドリング装置(1)は、前記工作機械(100)及び/又は前記工作機械の制御装置に無線接続又はケーブルプラグ接続を経て接続及び/又は結合可能である、請求項1〜13の何れかに記載のハンドリング装置。
- 前記ハンドリング装置(1)は、工作機械のグループ中で接続された工作機械を、通信接続を経て認識するように構成されている、請求項14に記載のハンドリング装置。
- 前記ハンドリング装置(1)は、認識された工作機械に依存して予め記憶された参照位置を決定するように構成されている、請求項15に記載のハンドリング装置。
- 前記ハンドリング装置(1)は、接続された工作機械の制御パネル(110)により制御及び/又はインストールされるように構成されている、請求項14〜16の何れかに記載のハンドリング装置。
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JP6669693B2 (ja) | 2020-03-18 |
EP3257623B1 (de) | 2020-08-05 |
US20170355052A1 (en) | 2017-12-14 |
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CN107498366B (zh) | 2021-03-30 |
PL3257623T3 (pl) | 2021-01-11 |
DE102016210508A1 (de) | 2017-12-14 |
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