Operating unit with integrated tool-change device

Abstract

To provide an operating unit that can be connected to the wrist of a robot arm.SOLUTION: An operating unit (10) comprises: a tool (12); and a supporting structure (14) carrying the tool. The operating unit is characterized in that the supporting structure (14) comprises a connection member (26) via which the operating unit (10) can be operatively connected releasably to a wrist of the robot arm. Therein: the connection member (26) has an opening (30) in an end wall (32) thereof; the opening (30) is configured to receive a head of a connection device associated to the wrist of the robot arm; the connection member (26) comprises an internal seat (28) accessible through the opening (30) and configured to receive blocking elements carried by the head so as to enable fixing of the operating unit to the wrist of the robot arm.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The object of the invention is a manipulation unit connectable to the wrist of a robot arm. [Background technology]

[0002] Known in the prior art are operating units, such as welding guns, -Tools; and - a support structure for holding said tool 1 and 2, the reference number 1 designates as a whole an operating unit of known type comprising a support structure 2 for gripping a tool 3, here a welding gun. The support structure 2 is composed of a connection part 5.

[0003] To connect the operating unit 1 to the wrist of a robot arm, it is generally envisaged to use a tool changer.

[0004] The tool changer comprises a first annular body 4 fixed to a connection part 5 of the operating unit 1 and a second annular body 100 (Figures 8 and 9) attached to the wrist of the robot and carrying a fixing member designed to detachably connect the first annular body 4 and the second annular body 100.

[0005] In general, the fixing member is constituted by a substantially cylindrical head 101 carrying a series of blocking elements 102 which are controllable by pneumatic means into a position protruding from the outer surface of the head 101 .

[0006] During operation of the tool changer, the first annular body 4 is mounted on the cylindrical head 101 of the second annular body 100 and fixed to the second annular body 100 via the operation of said blocking element 102 .

[0007] At the same time, via the joining of the opposing faces of the two ring bodies, a connection is made for the necessary supplies to the operating unit.

[0008] It follows that the tool changer performs the 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.

[0009] In the technical field of interest here, there is felt a need to provide an improved solution for connecting a manipulation unit to a robot arm compared to the described prior art.

[0010] The above object is achieved through an operating unit as claimed in claim 1. [Brief description of the drawings]

[0011] Further features and advantages will become apparent with reference to the attached drawings, given purely as non-limiting examples, in which: [Figure 1] 1 is a perspective view of an operating unit of known type, as already described; FIG. [Diagram 2] FIG. 2 is a perspective view of the operating unit of FIG. 1 connected to a first annular body of a tool changer, as already described and known; [Diagram 3] FIG. 2 is a perspective view of an operating unit according to the present invention; [Figure 4] FIG. 4 is a perspective view of the operation unit of FIG. 3 in a partially exploded state. [Figure 5A] FIG. 2 is a front view of an alternative embodiment of an operating unit according to the present invention; [Figure 5B] FIG. 5B is a rear view of the embodiment of FIG. 5A. [Figure 6] FIG. 5B is a side view of the embodiment of FIG. 5A. [Figure 7] FIG. 5B is a top plan view of the embodiment of FIG. 5A. [Figure 8] FIG. 13 is a front view of the second annular body of the tool changer; [Figure 9] FIG. 13 is a side view of a second annular body of the tool changer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 3-9, generally designated 10 is an operational unit according to the present invention.

[0013] The operational unit 10 comprises a tool 12 and a support structure 14 configured to grip the tool 12 .

[0014] In a preferred embodiment of the present invention, the tool 12 is a spot welding gun 120 .

[0015] In a manner known per se, the gun 120 comprises two jaws 121, 122 movable relative to each other between a closed and an open position and which grasp respective electrodes 123, 124.

[0016] At least one of the two jaws is operatively connected to a respective actuator for driving the aforementioned movements.

[0017] Of course, the tool 12 can be of any type, for example a power wrench, a milling machine, a gripper, etc.

[0018] In a preferred embodiment, the support structure 14 of the operational unit 10 comprises two parallel plates 16 spaced apart from one another so as to define an interior space 24 defined between the plates 16 themselves.

[0019] The tool 12 is received in the space 24 and is secured to the two plates 16 via fastening means of known type.

[0020] The support structure 14 is disposed within the space 24 and includes a connecting member 26 that connects the two ends 22 of the plates 16 together.

[0021] According to an important feature of the solution described herein, the connecting member 26 is pre-arranged for direct connection to a second annular body 100 (see Figures 8 and 9) of the tool changer in order to connect the operational unit 10 to the wrist of a robot arm.

[0022] In one or more preferred embodiments as shown, the connecting member 26 comprises a hollow body 26A having an end wall 32 with an opening 30 formed therein.

[0023] The opening 30 is configured to receive a cylindrical head 101 of a tool changer.

[0024] Furthermore, inside the body 26A, an internal seat 28 is formed, accessible through the opening 30, and configured to receive a block element 102 of the tool changer so as to ensure a rigid connection between the operating unit and the wrist of the robot arm. For example, the internal seat 28 has a larger diameter than the opening 30 and includes an annular surface inclined relative to the end wall 32, which annular surface faces away from the opening 30 and is intended to come into contact with the block element 102 in the respective projecting position so as to prevent withdrawal of the cylindrical head 101 from the opening 30.

[0025] Referring now to the embodiment represented in the figures, in a manner known per se, the operating unit 10 comprises an electrical system 34 arranged to supply power to the tool 12 .

[0026] According to the above embodiments, the connecting member 26 of the operational unit comprises at least one electrical connector 38 configured to electrically connect the electrical system 34 to an electrical terminal 104 of an electrical supply circuit provided on the robot arm. In various embodiments, such as the illustrated example, the terminal 104 is carried by the body 100 of the tool changer.

[0027] The electrical system 34 includes wiring 36 that extends from a connector 38 on the connecting member 26 to the powered devices of the tool 12, such as actuators, transformers, etc.

[0028] 6 to 9, in a manner known per se, the operating unit 10 further comprises a hydraulic and / or pneumatic system 40 arranged to supply the tool 12 with a working fluid.

[0029] According to the above embodiments, the connection member 26 further comprises at least one connector 42 configured to fluidly connect the hydraulic / pneumatic system 40 with an output connector 103 of a hydraulic / pneumatic system of the robot arm. In various embodiments, such as the illustrated example, the connector 103 is carried by the body 100 of the tool changer.

[0030] The hydraulic / pneumatic system 40 comprises a duct 44 which extends from a connector 42 of the connecting member 26 to a device of the tool 12 which operates via a hydraulic fluid.

[0031] The solution described herein is particularly advantageous insofar as 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 changer carried by the robot wrist.

[0032] The operational unit described in this specification therefore makes it possible to provide a solution for connecting the operational unit 10 to the wrist of a robot arm which requires a smaller number of parts compared to the prior art solutions described at the beginning, resulting in reduced weight, overall dimensions and manufacturing costs.

[0033] As mentioned above, the connecting member may also comprise an electrical or hydraulic / pneumatic connector, which allows an electrical and / or hydraulic / pneumatic connection between the operational unit 10 and the robot arm to be obtained in a simple and immediate manner.

[0034] Naturally, without violating the principles of the invention, the details of construction and the embodiments may vary widely with respect to those described and illustrated herein, without thereby departing from the scope of the invention as defined by the following claims.

Claims

1. An operation unit connectable to a wrist of a robot arm, Tools; and a support structure for carrying the tool; The operational unit has a feature that the support structure includes a connecting member, and the operational unit can be detachably operatively connected to the wrist of the robot arm via the connecting member, the connecting member has an opening in its end wall, the opening configured to receive a head of a connecting device associated with the wrist of the robot arm, the connecting member having an internal seat accessible through the opening and configured to receive a block element carried by the head so as to enable fastening of the operational unit to the wrist of the robot arm, Operation unit.

2. the support structure of the operating unit comprises two plates arranged parallel to each other and spaced apart from each other, on which the tools are fixed via fixing means, the connecting member is disposed between the plates and rigidly connected to the plates; the internal seat of the connecting member extends into a space defined between the plates of the support structure; The operating unit according to claim 1 .

3. 3. The operating unit according to claim 1 or 2, further comprising an electrical system for electrically supplying the tool, wherein the connecting member has an electrical connector for electrically connecting the electrical system to an electrical terminal of an electrical system of the robot arm.

4. 3. The operating unit according to claim 1 or 2, comprising a hydraulic or pneumatic system for supplying fluid to the tool, wherein the connecting member has a connector for placing the hydraulic or pneumatic system in fluid communication with a connector of the hydraulic or pneumatic system of the robot arm.

5. 3. The operational unit according to claim 1 or 2, wherein the tool is a welding gun having two jaws movable relative to each other between a closed position and an open position of the welding gun, each jaw being associated with a respective electrode, and at least one actuator device configured to control the movement of the respective jaw of the welding gun relative to the other jaw of the welding gun.

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