Abrégé

An embodiment of the present disclosure is a tool plate that is for holding a tool, and that comprises: a tool plate body having formed therein an insertion hole into which a portion of a master plate is to be inserted; an annular ring member which is arranged at the insertion hole and in which an engagement groove corresponding to an engagement member is formed; and a positioning pin for positioning the ring member in the circumferential direction when the ring member is arranged at the insertion hole. A pin hole in which the positioning pin is arranged in an upright position is formed in the tool plate body. In a plan view, the ring member has a notch formed at an edge so as to partially surround the positioning pin at a position corresponding to the pin hole, or has a hole formed so as to surround the positioning pin. The notch or the hole is formed so as to have a gap from the positioning pin.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

One aspect of the present disclosure is a master plate to/from which a tool plate for holding a tool can be attached/detached, and which is attached to a robot arm, the master plate comprising: a piston member that reciprocates to enable the tool plate to be attached/detached; and a detector that detects a first position of the piston member at which the tool plate is attached and a second position of the piston member at which the tool plate is detached. A bottomed hole part is formed in the piston member. The detector has a detection sensor and a part to be detected that is detected by the detection sensor, and at least a portion of the part to be detected is installed inside the hole part.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

An aspect of the present disclosure provides a master plate which is mounted on a robot arm and to/from which a tool plate that holds a tool can be attached/detached, said master plate comprising: a master plate body which includes a body part that has a mounted surface mounted to the robot arm and an insertion part that protrudes from a surface opposite from the mounted surface of the body part and that is inserted into the tool plate; a piston member which can reciprocate in an opening part formed in the master plate body; and a sliding member which is disposed between the inner circumferential surface of the opening part and the piston member, wherein the body part and the insertion part are formed integrally from a light metal or a resin, and a groove part in which the sliding member is disposed is formed in the piston member.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

An embodiment of the present disclosure is a master plate in which a tool plate for holding a tool is detachably attached to a robot arm, the master plate comprising a master plate body that has a body part attached to the robot arm and an insertion part that protrudes from the body part and is inserted into the tool plate, a piston member that can reciprocate in a hole part formed in the master plate body, an engagement member that can extend and retract in a direction orthogonal to the axial direction of the hole part from the insertion part by the reciprocation of the piston member, and a holding member that is disposed in the insertion part and holds the engagement member, the body part and the insertion part being integrally formed of a light metal or a resin, and the holding member being formed of an oil-impregnated metal or an oil-impregnated ceramic.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Produits et services

Industrial robotic arms and their parts and fittings; robotic arms for industrial purposes and their parts and fittings.

Produits et services

Industrial robotic arms and their parts and fittings; robotic arms for industrial purposes and their parts and fittings.

Produits et services

Industrial robotic arms for assembling, bonding, sealing, conveying, palletizing, cutting, welding and polishing and their parts and fittings; robotic arms for assembling, bonding, sealing, conveying, palletizing, cutting, welding and polishing for industrial purposes and their parts and fittings.

Abrégé

The present invention addresses the problem of providing a tool changer that can keep a tool plate from being accidentally released from a master plate. One aspect of the present invention is a tool changer that comprises: a master plate that has a cylinder chamber and a piston member that can move back and forth inside the cylinder chamber; and a tool plate that is attached to/detached from the master plate by the back and forth movement of the piston member. The master plate also has a lockpin that moves in and out of the cylinder chamber to restrict the back and forth movement of the piston member.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

A tool exchange device according to one embodiment of the present invention comprises: a master plate which is attached to a robot arm; and a tool plate which is detachably attached to the master plate, and to which a tool is attached. One of the master plate and the tool plate has an insertion recess on one surface, and the other plate is detachably attachable to the one plate, and has a columnar portion which is inserted into the insertion recess in a connected state. The tool exchange device further comprises a spring member that maintains the connected state of the one plate and the other plate. The columnar portion has, on a side surface, a notch which is recessed in a direction of a central axis from the side surface of a top portion of the columnar portion, and engages with the spring member in the connected state. The spring member biases the columnar portion in the direction of the central axis in the connected state.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

The tool changer according to one embodiment of the present invention comprises a master plate attached to a robot arm, and a tool plate that is attachably and detachably disposed on the master plate and that has a tool attached thereto, wherein: one plate among the master plate and the tool plate has an insertion recess in one surface thereof; the other plate among the two plates is attachable to and detachable from the one plate and has a columnar part inserted into the insertion recess while a linked state is in effect; the tool changer furthermore comprises a spring member that maintains the linked state of the one plate and the other plate; the columnar part has, in one side surface thereof, a notch that is depressed in a center-axis direction from a side surface of the apex of the columnar part, the spring member engaging with the notch while the linked state is in effect; and the spring member biases the columnar part in the center-axis direction thereof while the linked state is in effect.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Produits et services

Industrial robotic arms and their parts and fittings; robotic arms for industrial purposes and their parts and fittings; metalworking machines and tools and their parts and fittings; loading-unloading machines and apparatus and their parts and fittings; food or beverage processing machines and apparatus and their parts and fittings; painting machines and apparatus and their parts and fittings; plastic processing machines and their parts and fittings; semiconductor manufacturing machines and systems and their parts and fittings; rubber manufacturing machines and their parts and fittings; electric arc welding apparatus and their parts and fittings; electric metal cutting machines (by arc, gas or plasma) and their parts and fittings; electric welding machines for metalworking and their parts and fittings.

Abrégé

The present invention addresses the problem of providing a tool changer that, even when supply of a fluid for connecting a master plate and a tool plate is stopped, can prevent the connection state from becoming insufficient. One aspect of the present invention is a tool changer comprising a tool plate to which a tool is attached, and a master plate to which the tool plate is detachably attached, the master plate having a cylinder chamber, a plate body formed with a flow passage for supplying a fluid to the cylinder chamber and discharging the fluid, and a piston member capable of reciprocating in the cylinder chamber with the pressure of the fluid to be supplied and discharged. The tool changer is characterized in that the master plate has a lock pin which restricts the reciprocating movement of the piston member by at least partially projecting into the cylinder chamber.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

An objective of the present invention is to provide a connector which can deter adjacent terminals from becoming electrically shorted due to the penetration of liquid. A connector according to the present invention comprises: a male terminal having a pillar-shaped pedestal, and a columnar protrusion that protrudes from the top surface of the pedestal; and a female terminal having a cylindrical socket that has an opening in the top surface thereof and has a recess that can engage with the protrusion. The male terminal has a sealing member that makes contact with the pedestal and surrounds the protrusion, and when the male terminal and female terminal are engaged, the sealing member makes contact with the top surface of the socket so as to surround the opening.

Classes IPC  ?

• H01R 13/52 - Boîtiers protégés contre la poussière, les projections, les éclaboussures, l'eau ou les flammes

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
• B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
• F16L 29/04 - Raccords comportant des moyens pour couper le courant de fluide comportant un obturateur dans chacune des deux extrémités de tuyau, les obturateurs s'ouvrant automatiquement lors de l'accouplement
• F16L 37/34 - Accouplements du type à action rapide avec moyens pour couper l'écoulement du fluide avec un obturateur dans chaque extrémité de tuyau avec deux clapets dont l'un au moins est ouvert automatiquement au moment de l'accouplement au moins un des clapets étant du type à manchon, c.-à-d. un manchon étant mobile autour d'un corps cylindrique fixe

Abrégé

The purpose of the present invention is to provide a fluid module in which the cooling water that inevitably leaks when a tool plate is removed from a master plate does not wet other tools, etc., mounted on the tool plate. In this fluid module, a tool-side unit is provided with a protrusion which is disposed on the top surface thereof, a vertical flow path which opens on the top surface of the protrusion and extends in the thickness direction, a movable member which is arranged in the vertical flow path and which can move in the thickness direction, and a biasing member which biases the movable member upwards; and a master-side unit is provided with a vertical flow path which opens on the bottom surface and extends in the thickness direction, and a fixing unit which depresses the movable member when the tool plate is being attached to the master plate. The master-side unit vertical flow path can communicate with the tool-side unit vertical flow path when the tool plate is attached to the master plate, and the top surface of the movable member is positioned below the top surface of the tool-side unit when the tool plate has been removed from the master plate.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
• B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
• F16L 29/04 - Raccords comportant des moyens pour couper le courant de fluide comportant un obturateur dans chacune des deux extrémités de tuyau, les obturateurs s'ouvrant automatiquement lors de l'accouplement
• F16L 37/34 - Accouplements du type à action rapide avec moyens pour couper l'écoulement du fluide avec un obturateur dans chaque extrémité de tuyau avec deux clapets dont l'un au moins est ouvert automatiquement au moment de l'accouplement au moins un des clapets étant du type à manchon, c.-à-d. un manchon étant mobile autour d'un corps cylindrique fixe

Abrégé

The present invention addresses the problem of providing a tool exchange device which makes it possible to prevent work with tools in a state of insufficient coupling of a tool plate (1) to a master plate (4). The present invention is a tool exchange device provided with a tool plate (1) having a insertion recess, and a master plate (4) which has a cylindrical part and to which the tool plate (1) is detachably coupled, the master plate (4) having a plate body (7) in which a cylinder chamber (10) and a distribution channel are formed, a locking section (5) provided so as to be moved in and out in a direction perpendicular to the axis of the cylindrical part, and a piston member (8) that can move reciprocally in the axial direction of the cylindrical part due to the pressure of the cylinder chamber inside the cylindrical part and that moves the locking section (5) in and out, and the tool plate (1) comprising a locked section (21) that can be locked to or unlocked from the locking section (5) as a result of the locking section being moved in and out in a state where the cylindrical part is inserted into the insertion recess. The tool exchange device is characterized in that the master plate (4) further comprises a sensing means (23) for sensing the pressure of the cylinder chamber (10).

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

The present invention addresses the problem of providing a tool-exchanging device with which increased cost and increased device width are limited while it is possible to adequately ensure the pressing force of a reciprocating body (9) that maintains the locked state of locking parts when a tool plate (1) is connected to a master plate (4) and to securely maintain the connected state. The present invention is a tool-exchanging device: provided with a master plate (4) and a tool plate (1) respectively provided with locking parts and a part to be locked that lock and unlock from each other; and in which the master plate (4) is provided with a cylinder chamber (8) and a reciprocating body (9) that reciprocates as a result of pressure in the cylinder chamber and locks the locking parts with the part to be locked as a result of said reciprocation. The device is characterized in that the master plate (4) is also provided with an auxiliary cylinder chamber (10), which is partitioned from the cylinder chamber (8), and an auxiliary reciprocating body (11) having a rod section (13) for pressing the reciprocating body (9) toward the locked state of the locking parts by the pressure of the auxiliary cylinder chamber.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

The objective of the present invention is to provide a tool exchange device that can reliably maintain the fitted state of a master plate and a tool plate and can promote increased thinness. The tool exchange device is provided with a master plate, which is attached to a robot arm, and a tool plate, which is removably mounted to the master plate and is attached to the tool, the tool plate having a tubular concavity and the master plate having a cylindrical protrusion that can fit into the concavity. The tool exchange device is characterized by being provided with: a plurality of spheres provided to the protrusion in a manner so as to rise/fall in a first direction approximately perpendicular to the axial direction of the concavity and protrusion; a plurality of grooves that are provided to the concavity and into which the plurality of spheres fit; and a restriction member that has a tapered cylindrical cam provided to the protrusion, able to move in a second direction that is approximately perpendicular to both the axial direction and the first direction, and at a first position in the second direction, restricts the rise/fall of the plurality of spheres in a state of advancement, and at a second position, permits the rise/fall of the plurality of spheres.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

The purpose of the present invention is to provide: a connector which has high reliability of electrical connection and which enables easy and reliable fitting and removal between a male terminal and a female terminal; and a tool exchange device using the connector. This connector is provided with a substantially circular column-like male terminal and with a female terminal to which the male terminal is capable of being fitted. The connector is characterized in that the male terminal has a tapered section which has a diameter gradually reduced toward the front end, and in that the female terminal has a protrusion at the position of the inner peripheral surface thereof at which the female terminal comes into contact with the tapered section. The diameter reduction rate of the tapered section in the axial direction may be substantially constant, and the taper angle of the tapered section is preferably in the range of 1°to 10°, inclusive. The protrusion may come into contact with the male terminal only at the tapered section. The protrusion may comprise band-like members arranged in the axial direction and bent inward at the centers thereof. The connector may be provided with a male connector section in which the male terminal is raised, and may also be provided with a female connector section in which the female terminal is raised, and the male connector section and the female connector section may be configured so as to be capable of being fitted to each other.

Classes IPC  ?

• H01R 13/04 - Broches ou lames destinées à coopérer avec des alvéoles
• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
• B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
• H01R 13/187 - Broches, lames ou alvéoles ayant un ressort indépendant pour produire ou améliorer la pression de contact le ressort étant dans l'alvéole

Abrégé

The present invention is provided with a robot connection section capable of connecting to a robot and a connector section (5) that is connected to the robot connection section via the main body of the master unit. The connector section (5) comprises holder members (51) disposed between the through holes (500) of an insertion part (50), which can be inserted into a tool-connecting device, and ball members (52) inside said through holes (500). The insertion part (50) is configured from a light metal or resin and the holder members (51) are configured from metal.

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
• F16B 1/02 - Moyens pour bloquer des éléments de mécanismes après fonctionnement

Produits et services

Metalworking machines and tools and their parts; loading-unloading machines and apparatus and their parts; food or beverage processing machines and apparatus and their parts; painting machines and apparatus and their parts; plastic processing machines and apparatus and their parts; machines and apparatus for manufacturing rubber goods and their parts; semiconductor manufacturing machines and systems and their parts; chucks [parts of metalworking machines]; robots for arc welding (machines); robots for spot welding [machines]; robots for assembling or mounting [metalworking machines]; robots for assembling or mounting [loading-unloading machines]; robots for assembling or mounting [painting machines]; robots for assembling or mounting [semiconductor manufacturing machines]; automatic handling machines [manipulators] for loading and unloading, automatic handling machines [manipulators] for metalworking, automatic handling machines [manipulators] for painting, automatic handling machines [manipulators] for semiconductor manufacturing, automatic handling machines [manipulators] for food or beverage processing, automatic handling machines [manipulators] for plastic processing, automatic handling machines [manipulators] for manufacturing rubber goods; robots for processing metal [metal working machines]; robotic arms for loading and unloading machines, robotic arms for metalworking machines, robotic arms for painting machines, robotic arms for semiconductor manufacturing machines.

Abrégé

The present invention provides a tool exchanger such that interference to a robot, peripheral device or the like can be suppressed when the robot is operating. This tool exchanger (1) comprises: a device body (2) having a robot coupling section (20) for coupling to a robot and an inserting section (21) insertable into a cavity (51) of a tool (5); a lock mechanism (3) comprising a linear motion body (30) built into the device body (2), and a lock member (31) that extends and retracts from the outer circumference of the inserting section (21) in accordance with the reciprocating motion of the linear motion body (30); a drive motor (40) which is disposed such that an output shaft (400) thereof extends in the direction corresponding to the direction of the reciprocating motion of the linear motion body (30); and a drive transmitting mechanism (41) that comprises a rotary body (411) threadably engaged with the linear motion body (30) and is configured so the rotation of the output shaft (400) of the drive motor (40) can be transmitted to the rotary body (411).

Classes IPC  ?

• B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci

Abrégé

The present invention addresses the problem of providing a molded article holding device capable of making the arrangement of four holding means correspond to four molded articles arranged in a die. The molded article holding device is attached to the tip of a robot arm in order to remove molded articles from a pair of dies mounted to an injection molding machine and is for holding each of four molded articles left in two rows and two columns in one of the dies when the pair of dies are separated. The molded article holding device comprises: a unit base connected directly or indirectly to the robot arm; four holding means that are configured such that each is capable of holding the molded articles and arranged on top of the unit base in a plane, in two rows and two columns; a first operating means that relatively separates, in the row direction, holding devices among the four holding means that are from different columns; and a second operating means that relatively separates, in the column direction, holding devices among the four holding means that are from different rows.

Classes IPC  ?

• B25J 15/00 - Têtes de préhension
• F16B 1/02 - Moyens pour bloquer des éléments de mécanismes après fonctionnement
• F16B 1/04 - Moyens pour bloquer des éléments de mécanismes après fonctionnement désengagés par le mouvement de l'organe de manœuvre appartenant à l'élément de mécanisme
• F16B 2/06 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif externes c.-à-d. agissant par contraction

Produits et services

Automatic tool changing machines for industrial robots and automated assembly machines; devices installed between the end of the arm and the gripper, for the purpose of correcting lateral, diagonal, torsional and positional misalignment between the insertion part and the hole, in automated assembly or insertion process by industrial robots or automated assembly machines; position offset adjusters for industrial robots and automated assembly machines; remote center compliance devices for industrial robots and automated assembly machines; devices installed between the end of the manipulator and the gripper, for the purpose of correcting lateral, diagonal, torsional and positional misalignment between the insertion part and the hole in automated assembly or insertion process; position offset adjusters for manipulators; remote center compliance devices for manipulators; metal working robots (machines), painting robots (machines) and other robots for industrial use; parts and accessories of robots (machines); conveyance robots; construction machines and apparatus; loading-unloading machines and apparatus; cleaning robots for industrial use; underwater cleaning and inspection robots of a traveling type, especially for water tanks, aquariums, pools, reservoirs and ponds; underwater robots of a traveling type, for cleaning, removing sediments in clean water, recycled wastewater, reclaimed water and industrial water; couplings installed to industrial robots, positioners, turntables, moulds changing machines and automatic carrying trucks, for transmitting electric signal, fluid and power; couplings other than for land vehicles; shaft couplings (machines); fluid couplings (machine elements not for land vehicles); machine elements (not for land vehicles). Humanoid robots, parts and accessories thereof for the purpose of learning physical structure thereof and electronic circuits incorporated therein; six-axial force sensors; multi-component force measuring devices for measuring force and moments; devices for measuring force or moments; measuring or testing machines and instruments.

Produits et services

Automatic tool changing machines for industrial robots and automated assembly machines; devices installed between the end of the arm and the gripper, for the purpose of correcting lateral, diagonal, torsional and positional misalignment between the insertion part and the hole, in automated assembly or insertion process by industrial robots or automated assembly machines; position offset adjusters for industrial robots and automated assembly machines; remote center compliance devices for industrial robots and automated assembly machines; devices installed between the end of the manipulator and the gripper, for the purpose of correcting lateral, diagonal, torsional and positional misalignment between the insertion part and the hole in automated assembly or insertion process; position offset adjusters for manipulators; remote center compliance devices for manipulators; metal working robots (machines), painting robots (machines) and other robots for industrial use; parts and accessories of robots (machines); conveyance robots; construction machines and apparatus; loading-unloading machines and apparatus; cleaning robots for industrial use; underwater cleaning and inspection robots of a traveling type, especially for water tanks, aquariums, pools, reservoirs and ponds; underwater robots of a traveling type, for cleaning, removing sediments in clean water, recycled wastewater, reclaimed water and industrial water; couplings installed to industrial robots, positioners, turntables, moulds changing machines and automatic carrying trucks, for transmitting electric signal, fluid and power; couplings other than for land vehicles; shaft couplings (machines); fluid couplings (machine elements not for land vehicles); machine elements (not for land vehicles). Humanoid robots, parts and accessories thereof for the purpose of learning physical structure thereof and electronic circuits incorporated therein; six-axial force sensors; multi-component force measuring devices for measuring force and moments; devices for measuring force or moments; measuring or testing machines and instruments.

Abrégé

A reaction force presentation method compares a virtual model built in a computer to an actually measured output value obtained from Haptic interface having a tool-type force sensor so as to obtain a difference and presents the difference to an actual article operation tool. The method calculates a difference between a reaction force applied to the virtual model in accordance with an operation amount and a reaction force applied to the actual operation tool and presents the difference as a reaction force. A force presentation system capable of recording and reproducing Haptics is also disclosed.

Classes IPC  ?

• G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur