Tool Changer

Abstract

A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

Claims

1. A tool changer comprising: a master half and a tool half, the master half to be coupled with a robot, the tool half to be coupled with a tool; a first mating member on the master half; a second mating member on the tool half, the first and second mating members including a recess or a projection, respectively, for enabling the first and second mating members to mesh with one another; a securing mechanism for securing the master and tool halves with one another, the securing mechanism including a clasp moving between a release position and a grasping position, in the grasping position the master and tool halves are secured together with one another, a cam for moving the clasp between the release and grasping positions; and a lock pin for locking the cam in the release and grasping positions, wherein from a release position, the master half engages the tool half, the lock pin moving to an unlocked position, the master half moves horizontally with the second plate which, in turn, moves the cam from its release position to its grasping position wherein the clasp grasped the tool half and the lock pin moves into a locked position locking the cam in its grasping position.

2. The tool changer of claim 1, wherein when the master and tool halves are unsecured with one another the tool half is retained in a nest.

3. The tool changer of claim 2, wherein the nest includes a member for activating the lock pin.

4. The tool changer of claim 1, wherein the tool half includes posts to couple with the nest.

5. The tool changer of claim 1, wherein the securing mechanism includes a plurality of clasps.

6. The tool changer of claim 5, wherein each clasp includes a jaw and a cam pin.

7. The tool changer of claim 6, wherein each cam pin is received in a corresponding slot in a cam plate of the cam, an elastomeric member in the slot and wherein movement of the cam plate moves the cam pin in the slot moving the clasp between its released and grasping positions.

8. The tool changer of claim 7, wherein in the grasping position, the jaw engages a shoulder securing the master and tool halves together.

9. The tool changer of claim 1, wherein one of the tool half includes a slot to enable passage of the lock pin.

10. A tool changing station comprising: a robot with a tool changer and at least one nest for supporting a tool, the tool changer further comprising: a master half and a tool half, the master half coupled with the robot, and the tool half coupled with a tool; mating members coupled with the master and tool halves on the first plate for enabling the master and tool halves to mesh with one another; a securing mechanism for securing the master and tool halves with one another, the securing mechanism including one or more clasps moving between a release position and a grasping position, in the grasping position the master and tool halves are secured together with one another, a cam for moving the at least one clasp between the release and grasping positions; and wherein from the release position, the master half engages the tool half on one of the nests, the master half moves horizontally, via the robot, the tool half which, in turn, moves the cam from its release position to its grasping position wherein the one or more clasps grasp the tool half and the cam locks in its grasping position.

11. The tool changing station of claim 10, wherein the nest includes a member for activating the cam.

12. The tool changing station of claim 10, wherein the tool half includes posts to couple with the nest.

13. The tool changing station of claim 10, wherein the securing mechanism includes a plurality of clasps.

14. The tool changing station of claim 13, wherein each clasp includes a jaw and a cam pin.

15. The tool changing station of claim 14, wherein each cam pin is received in a corresponding slot in a cam plate of the cam and wherein movement of the cam plate moves the cam pin in the slot moving the plurality of clasps between their released and grasping positions.

16. The tool changing station of claim 15, wherein in the grasping position, the jaw engages a shoulder securing the master and tool halves.

Description

DRAWINGS

[0016] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0017] FIG. 1 is a perspective view of a robot arm with a tool changer according to the disclosure.

[0018] FIG. 2 is a perspective view of the tool changer itself.

[0019] FIG. 3 is a exploded perspective view of FIG. 2.

[0020] FIG. 4 is a bottom perspective view of the tool half.

[0021] FIG. 5A is a cross-section view of the clasp in a released position.

[0022] FIG. 5B is a top plan view of the master tool half with the clasp in a released position

[0023] FIG. 6A is a cross-section view of the clasp in a grasping position.

[0024] FIG. 6B is a top plan view like that of FIG. 5B with the clasp in a grasping position.

[0025] FIG. 7 is a perspective view of the halves decoupled.

[0026] FIG. 8 is a perspective view beginning the coupling process.

[0027] FIG. 9 is a perspective view like FIG. 8 continuing the coupling process.

[0028] FIG. 10 is a perspective view like FIG. 9 illustrating the coupling process.

[0029] FIG. 11 is a perspective view with the tool halves coupled together.

[0030] FIG. 12 is a perspective view of a prior art tool changer.

[0031] FIG. 13 is a cross-section view of FIG. 12.

DETAILED DESCRIPTION

[0032] Turning to the figures, a tool changer is illustrated on a robot arm 10 and designated with the reference numeral 30. The tool changer 30 includes a master half 32 and a tool half 34. The master half 32 is coupled with the robot 10 and the tool half 32 is coupled with a tool 16.

[0033] The master half 32 includes a body 38 and a securement assembly 40. The securement assembly 40 enables the master half 32 to be coupled and decoupled with a tool half 34.

[0034] The body 38 has an overall rectangular and almost square configuration. The body 38 is plate shaped and includes a central aperture 42 with a projecting annular boss 44. An additional annular boss 46 is positioned inside of the boss 44. The boss 46 includes a plurality of apertures 48 to enable securement of the master half 32 with the robot 10. Fasteners pass through the apertures 48 for securement.

[0035] The body 38 includes T-shaped slots 50 on its corners. The T-shaped slots 50 receive clasps 70 defined herein. The body 38 includes a channel 52 to enable passage of a pin lock 74. The channel 52 includes a front wall 54 that includes a pair of cutouts 56, 58. The body side opposite to the T-shaped slots 50 includes a mating member 60. The mating member 60 may include a bore or recess 62 and ball 63 to enable the mating members 60 to mesh or mate with mating members on the tool half 34.

[0036] The securing mechanism 40 includes one or more clasps 70 coupled with a cam 72 activated by the lock pin 74. The clasps 70 have an overall C-shape with legs 76, 78 separated by web 80. The leg 78 is longer than the leg 76 and includes a cam pin 82. The leg 78 has an overall T-shaped in cross-section to be received in the T-slot 50. Thus, the leg 78, of the clasp 70, slides in the T-slot 50 on the body 38.

[0037] The cam 72 includes a cam plate 84 with one or more cam slots 86 receiving cam pins 82. The slots 86 include a first portion 88 and a second portion 90. The first 88 and second 90 portions are positioned with respect to one another at a desired angle. Elastomeric members 89 are located in the second portion 90 of the slots 86. The elastomeric members 89 push the clasp 70 into its secured position. Also, the elastomeric members 89 take up play in the mechanism to maintain a constant force on the cam pins 82 due to wear. A retaining ring 96 is positioned on the cam plate 84. The retaining ring 96 is received in a groove 98 on the boss 44 to retain the cam plate 84 onto the master half 32.

[0038] The cam plate 84 includes apertures 100 that receives fasteners 102 that secure the lock pin 74 with the cam plate 84. The lock pin 74 is received in the channel 52. The lock pin 74 includes a housing 104, pin 106 and a spring 108. The housing 104 includes a bore 110 that receives the pin 106.

[0039] The pin 106 includes a detent 112 that prohibits the pin 106 from exiting housing 104. The spring biases the pin 106 between the cam plate 84 and housing 104. The detent 112 is received in a slot in wall 54. The detent 112 is positioned in the cutouts 56, 58 in a locked and unlocked position, as will be explained herein. The housing 104 moves within the channel 52, horizontally, with respect to the body 38. The housing 104 includes bores 118 that receives fasteners 102 that secure the lock pin 74 with the cam plate 84.

[0040] The tool half 34 includes a body 130 having an overall plate shape. The body 130 includes apertures 134 to secure the tool 16 with the tool half 34. Also, apertures 174 enable utility modules to be mounted on the tool. At least one mating member 136, four are shown, is positioned on the body 130. The mating member 136 includes a recess 138 to receive the ball 63 from the master half mating member 60. Thus, the recesses 62, 138 are on both of the master 32 or tool halves 34.

[0041] An elongated slot 140 is formed in the body 130. The slot 140 receives the pin housing 104 enabling the housing 104 to move horizontally with respect to the body 130. The opposite side of the body 130 includes one or more posts 142. The posts 142 include a head 144 and a neck 146. The neck 146 secures with the body 130. Additionally, the body 130 includes shoulders 148 at its corners to receive the clasps 70 as will be explained herein. The posts 142 secure with the nest 150.

[0042] The nest 150 is U-shaped with legs 152, 154 separated by a web. The legs 152, 154 include one or more channels 158. The channels 158 include an opening 160 to receive the head 144 of the posts 142. The channels 158 also include an elongated slot 162 coupled with the opening 160. The slot 162 receives the neck 146 of the post 142. Thus, the posts 142 are positioned within the channels 158 through opening 160. The post 142 is slid in the elongated slot 162 so that the head 144 is in the channel 158 to retain the tool half 34 on the nest 150. The leg 152 includes a bore 164. The bore 164 receives the pin 106 of the lock pin 74.

[0043] Coupling and decoupling of the master half 32 and tool half 34 occurs as follows.

[0044] Turning to FIG. 7, the master half 32 is positioned away from the tool half 34. This is the uncoupled position. Here, the clasps 70 are positioned in a release position away from the body 38. The pin detent 116 is received in cutout 56. Thus, the clasps 70 are locked in the release position.

[0045] Turning to FIG. 8, the robot 10 moves the master half 32 into contact with the tool half 34. The tool half 34 seats in the nest 150. As the halves 32, 34 come together, the pin 106 contacts the bottom of the bore 164. This pushes the pin 106 against the spring 108 out of the cutout 56. The tool half 34 is retained on the nest 150 in the channels 158. The posts 142 are positioned in the channels 158 such that the heads 144 cannot be removed from the opening 160.

[0046] FIG. 5A illustrate the clasps 70 with respect to the master half 32 and tool half 34. FIG. 5B illustrates the release position of the cam plate 84 when the clasps 70 are in their released position.

[0047] FIG. 9 illustrates the robot moving the master half 32 horizontally with the tool half 34. As this occurs, the pin 106 contacts walls of the hole 164. This enables the lock pin 74, secured with the cam plate 84, to pivot or rotate the cam plate 84. As this occurs, the pins 82 slide in the slots 86. As the cam plate 84 moves the pins 82 in the slots 86, the clasps 70 move into a grasping position as illustrated in FIG. 6A. Here, the leg 76 is received in the shoulder 148 securing or locking the master half 32 with the tool half 34. FIG. 6B illustrates the grasping position of the cam plate 84 with the clasps 70 in the grasping position as illustrated in FIG. 6A.

[0048] The robot 10 continues to moves horizontally to finish the movement of the cam plate 84. In turn, the clasps 70 move into their secured locking position. Additionally, pin detent 112 moves to a position above the cutout 58 as illustrated in FIG. 10. As the robot 10 moves vertically away from the nest 150, as illustrated in FIG. 11, the pin 106 is moved away from the master half 32 by the spring 108. This moves the lock pin 74 into a locked condition with detent 112 engaged into slot 58 so that the master half 32 and tool half 34 are locked together.

[0049] To decouple the master half 32 and tool half 34, the robot 10 would position the tool changer in the nest 150. The robot 10 would be moved horizontally in the opposite direction to open/move the clasps to their released position. This enables the master half 32 to uncouple from the tool half 34. Thus, the robot 10 could be utilized to pick up an additional tool to do an additional function. The additional tool would have a tool half 34 as described above. Also, the next could move or both the nest and robot could move the tool halves 32, 34.

[0050] In the event, during operation, the tool changer would need the master half 32 separated from the tool half 34 manually, this could be done by a worker. The worker would push the pin 106 out of the cutout 58. This would enable the housing 104 to be moved by a screwdriver or the like to its released position releasing the clasps 70 from the tool half 34. Thus, upon release, the pin detent 116 would move into the cutout 56 and the master half 32 would be in a locked decoupled position.

[0051] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.