Operating unit with integrated tool changing device

Abstract

Described herein is an operating unit (10) that can be connected to the wrist of a robotic arm, comprising:-a tool (12), and-a support structure (14) carrying said tool, characterized in that the support structure (14) comprises a connecting member (26) via which said operating unit (10) can be operatively connected in a releasable manner to the wrist of said robotic arm, wherein the connecting member (26) has, on its end wall (32), an opening (30) configured to receive a head (101) of a connecting device associated with a wrist of a robotic arm, and wherein the connecting member (26) comprises an inner seat (28) accessible through the opening (30) and configured to receive a blocking element (102) carried by the head (101), therefore, the operation unit (10) can be fixed on the wrist part of the mechanical arm.

Description

Technical Field

[0001] The object of the invention is an operating unit that can be connected to the wrist of a robotic arm. Background Art

[0002] Types of operating units (e.g. welding guns) known in the prior art include:

[0003] - tools; and

[0004] - a support structure carrying said tool;

[0005] refer to Figure 1 and Figure 2 , reference numeral 1 denotes as a whole an operating unit of known type, comprising a supporting structure 2 carrying a tool 3 , in this case a welding gun. The supporting structure 2 comprises a connecting portion 5 . Summary of the invention

[0006] In order to connect the operating unit 1 to the wrist of a robot arm, it is usually envisaged to use a tool changing device.

[0007] This comprises a first ring 4 to be fixed to the connection part 5 of the operating unit 1 and a second ring 100 ( Figure 8 and Fig. 9 ), the fixing member is designed to connect the first annular body 4 to the second annular body 100 in a releasable manner.

[0008] Typically, the above-mentioned fixing member is constituted by a substantially cylindrical head 101 carrying a series of blocking elements 102 which can be controlled via pneumatic means into a position in which they protrude from the outer surface of the head 101 .

[0009] During operation of the tool changing device, the first annular body 4 is mounted on the cylindrical head 101 of the second annular body 100 and is fixed thereto via activation of the above-mentioned blocking element 102 .

[0010] At the same time, the connection of the power supply required for the operating unit is realized via the connection of the opposite surfaces of the two annular bodies.

[0011] In view of the foregoing, the above-described tool changing device thus performs a dual function of ensuring the fixing of the operating unit 1 to the wrist of the robot arm and of connecting the electrical and / or hydraulic or pneumatic connections between the robot and the operating unit 1 .

[0012] In the technical field of interest here, there is a need to provide an improved solution for connecting an operating unit to a robot arm compared to the described prior art.

[0013] The above object is achieved by an operating unit according to claim 1 . BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Further features and advantages will become apparent with reference to the accompanying drawings, provided by way of non-limiting example only, in which:

[0015] - Already described Figure 1 is a perspective view of an operating unit of a known type;

[0016] - Already described Figure 2 is connected to the first annular body of the tool changing device which is also known Figure 1 A perspective view of an operating unit of

[0017] - Figure 3 is a perspective view of an operating unit according to the present invention;

[0018] - Figure 4 Partially disassembled Figure 3 A perspective view of an operating unit of

[0019] - Figure 5A is a front view of an alternative embodiment of an operating unit according to the present invention;

[0020] - Figure 5B yes Figure 5A A rear view of an embodiment of the present invention;

[0021] - Figure 6 yes Figure 5A A side view of an embodiment of the present invention;

[0022] - Figure 7 yes Figure 5A A top plan view of an embodiment of the present invention;

[0023] - Figure 8 is a front view of a second annular body of the tool changing device; and

[0024] - Fig. 9 is a side view of the second annular body of the tool changing device. DETAILED DESCRIPTION

[0025] refer to Figures 3 to 9 , denoted as a whole by 10 is an operating unit according to the present invention.

[0026] The operating unit 10 comprises a tool 12 and a support structure 14 configured to carry the tool 12 .

[0027] In a preferred embodiment of the present invention, the tool 12 is a spot welding gun 120 .

[0028] In a manner known per se, the gun 120 comprises two jaws 121 , 122 which are movable relative to each other between a closed position and an open position and which carry respective electrodes 123 , 124 .

[0029] At least one of the two jaws is operatively connected to a respective actuator for driving the aforementioned movement.

[0030] Of course, the tool 12 may be of any type, such as a power wrench, a milling machine, a clamp, etc.

[0031] In a preferred embodiment, the supporting structure 14 of the operating unit 10 comprises two parallel plates 16 set at a distance from each other so as to define an internal space 24 comprised between the plates 16 themselves.

[0032] The tool 12 is received in the space 24 and is fixed to the two plates 16 via fixing means of known type.

[0033] The support structure 14 includes a connecting member 26 that is set within the space 24 and connects the two end portions 22 of the plate 16 together.

[0034] According to an important feature of the solution described herein, the connecting member 26 is pre-arranged for direct connection to the second annular body 100 of the tool changing device (see Figure 8 and Fig. 9 ) in order to connect the operating unit 10 to the wrist of the robot arm.

[0035] In one or more preferred embodiments, such as the illustrated embodiment, the connecting member 26 includes a hollow body 26A having an end wall 32 with an opening 30 formed therein.

[0036] The opening 30 is configured to receive a cylindrical head 101 of a tool changing device.

[0037] Furthermore, an internal seat 28 is formed inside the body 26A, which is accessible through the opening 30 and is configured to receive the blocking element 102 of the tool changer, thereby ensuring a secure connection between the operating unit and the wrist of the robot arm. For example, the internal seat 28 comprises an annular surface having a larger diameter than the opening 30 and inclined relative to the end wall 32, which faces in the direction opposite to the opening 30 and which is intended to come into contact with the blocking element 102 in a corresponding protruding position, so as to prevent the cylindrical head 101 from being withdrawn from the opening 30.

[0038] With reference now to the embodiment shown in the drawings, the operating unit 10 comprises, in a manner known per se, an electrical system 34 configured to supply electrical power to the tool 12 .

[0039] According to the above embodiment, the connection member 26 of the operating unit includes at least one electrical connector 38, which is configured to electrically connect the electrical system 34 to the electrical terminal 104 of the power supply circuit provided in the robot arm. In various embodiments, such as in the illustrated example, the terminal 104 is carried by the body 100 of the tool changing device.

[0040] The electrical system 34 includes wiring 36 extending from a connector 38 of the connection member 26 to an electrical power device (eg, an actuator, a transformer, etc.) of the tool 12 .

[0041] Reference again Figures 6 to 9 In a manner known per se, the operating unit 10 further comprises a hydraulic and / or pneumatic system 40 configured to supply the tool 12 with a working fluid.

[0042] According to the above embodiment, the connection member 26 further includes at least one connector 42, which is configured to set the hydraulic / pneumatic system 40 in fluid communication with the output connector 103 of the hydraulic / pneumatic system of the robot arm. In various embodiments, such as in the illustrated example, the connector 103 is carried by the body 100 of the tool changing device.

[0043] The hydraulic / pneumatic system 40 includes conduits 44 extending from a connector 42 of the connection member 26 to a working fluid-operated device of the tool 12 .

[0044] The solution described herein is particularly advantageous since the connecting member 26 forms an integral part of the support structure 14 of the operating unit 10 and at the same time can be directly connected to a tool changing device carried by the robot wrist.

[0045] The operating unit described herein therefore makes it possible to provide a solution for connecting an operating unit 10 to the wrist of a robotic arm which requires a smaller number of components than the prior art solution described at the beginning, thereby reducing weight, overall dimensions and production costs.

[0046] As already seen above, the connecting member may also be equipped with an electrical connector or a hydraulic / pneumatic connector, making it possible to obtain an electrical and / or hydraulic / pneumatic connection between the operating unit 10 and the robot arm in a simple and direct manner.

[0047] Of course, without prejudice to the principle of the invention, the embodiments and the details of construction may vary widely with respect to what has been described and illustrated herein, without departing from the scope of the invention as defined by the appended claims.

Claims

1. An operating unit (10) connectable to a wrist of a robotic arm, comprising: - tools (12); - a support structure (14) carrying said tool, The operating unit (10) is characterized in that the support structure (14) comprises a connecting member (26), via which the operating unit (10) can be operatively connected to the wrist of the robot arm in a releasable manner, The connecting member (26) has an opening (30) on its end wall (32), which is configured to receive a head (101) of a connecting device (100) associated with the wrist of the robotic arm, wherein the connecting member (26) includes an internal seat (28) that can be accessed through the opening (30) and is configured to receive a blocking element (102) carried by the head (101) so as to be able to fix the operating unit (10) to the wrist of the robotic arm.

2. The operating unit according to claim 1, wherein: The support structure (14) of the operating unit (10) comprises two plates (16) which are parallel to each other and are set at a distance from each other, and to which the tool (12) is fixed via fixing means, and wherein the connecting member (26) is set between the two plates (16) and is rigidly connected to the two plates, The seat (28) of the connecting member (26) extends in the space defined between the two plates (16) of the supporting structure (14).

3. An operating unit according to any one of the preceding claims, comprising an electrical system (34) for supplying power to the tool (12), wherein The connection member (26) includes an electrical connector (32) for electrically connecting the electrical system (34) to electrical terminals of the electrical system of the robot arm.

4. An operating unit according to any one of the preceding claims, comprising a hydraulic or pneumatic system (40) for supplying fluid to the tool (12), wherein The connection member (26) includes a connector (42) for setting the hydraulic or pneumatic system (40) in fluid communication with a connector of a hydraulic or pneumatic system of the robot arm.

5. An operating unit according to any one of the preceding claims, wherein: The tool (12) is a welding gun (120), comprising: two jaws (121, 122) movable relative to each other between a closed position and an open position of the welding gun (120), each jaw (121, 122) being associated with a respective electrode (123, 124); and at least one actuator device (125, 126) configured to control the movement of a respective jaw (121, 122) of the welding gun (120) relative to the other jaw (121, 122) of the welding gun (120).

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