Easy collaborative tool changer

Abstract

A connector (70) for mechanically connecting a device (2) to a robot (20), wherein the connector (70) comprises a first portion (74) configured to be attached to the robot (20) and a second portion (76) configured to be attached to a device (2) configured to be connected to the robot (20). The first portion (74) and the second portion (76) are detachably attached to each other by a first connection portion (1) constituting a rotational system comprising a pivot (116) about which the first portion (74) can rotate with respect to the second portion (76) and a second connection portion (1′) constituting a mechanical locking structure that prevents the first portion (74) and the second portion (76) from being detached from each other.

Claims

1. A connector for mechanically connecting a device to a robot, wherein the connector comprises a first portion configured to be attached to the robot and a second portion configured to be attached to a device configured to be connected to the robot, wherein the first portion and the second portion are detachably attached to each other by means of: a) a first connection portion constituting a rotational system comprising a pivot about which the first portion can rotate with respect to the second portion and b) a second connection portion constituting a mechanical locking structure that prevents the first portion and the second portion from being detached from each other, the second connection portion further comprising: a protruding structure having at least one protruding structure contact surface and a longitudinal axis and a receiving recess formed by at least one recess contact surface configured to bear against the at least one protruding structure contact surface of the protruding structure, wherein the surfaces are angled relative to the longitudinal axis in such a manner that the friction force between the contact surfaces has a magnitude that ensures that the resulting force acting on the protruding structure is sufficiently large to keep the protruding structure in engagement with the recess, wherein the connector comprises the protruding structure forming part of a slidably arranged press element provided in a track structure.

2. A connector according to claim 1, wherein the first connection portion constitutes a pivot joint, preferably a pivot joint comprising a first pivot structure and a second engaging pivot structure arranged to rotate with respect to the first pivot structure.

3. A connector according to claim 2, wherein the connector comprises an adaptor comprising a first connection part and a second connection part, wherein the adapter comprises one or more connection structures configured to connect the distal end of a first pipe or cable with the distal end of a second pipe or cable.

4. A connector according to claim 3, wherein the connector comprises a rotatably arranged rotation element that is arranged to unlock the engagement structures from each other by rotating the rotation element.

5. A connector according to claim 1, wherein the first portion and the second portion are provided with corresponding engagement structures constituting a snap-fit connection.

6. A connector according to claim 5, wherein the connector comprises a slideably arranged press element arranged to unlock the engagement structures from each other by moving the press element.

7. A connector according to claim 1, wherein the connector is configured to receive one or more adaptors hereby providing a detachably attachment of the one or more adaptors to the connector.

8. A connector according to claim 7, wherein the connector comprises one or more receiving structures configured to receive one or more corresponding attachment plates of the adaptor.

9. A connector according to claim 1, wherein a spring is arranged in the end portion of the track structure and exerts an outwardly directed force on the protruding structure.

10. A connector according to claim 1, wherein the connector has a diameter and the first connection portion is provided in a position, provided in a distance larger than half the diameter of the connector from the second connection portion.

11. A connector for mechanically connecting a device to a robot, wherein the connector comprises: a first portion configured to be attached to the robot, said first portion further comprising: a rotatable engagement structure; and a receiving recess formed by at least one contact surface; a second portion configured to be attached to a device configured to be connected to the robot, wherein the first portion and the second portion are detachably attached to each other, said second portion further comprising: a pivot for engaging with the rotatable engagement structure; and a protruding structure having a longitudinal axis and at least one contact surface configured to bear against the at least one contact surface of the receiving recess structure; wherein the surfaces are angled relative to the longitudinal axis in such a manner that the friction force between the contact surfaces has a magnitude that ensures that the resulting force acting on the protruding structure is sufficiently large to keep the protruding structure in engagement with the recess, wherein the connector comprises the protruding structure forming part of a slidably arranged press element provided in a track structure.

12. A connector according to claim 11, wherein the connector comprises an adaptor comprising: a first connection part configured to be attached to the first portion; and a second connection part, configured to be attached to the second portion; wherein the adapter comprises one or more connection structures configured to connect the distal end of a first pipe or cable with the distal end of a second pipe or cable.

13. A connector according to claim 11, wherein the connector comprises: a slideably arranged press element arranged to unlock the first portion from the second portion by moving the press element.

14. A connector according to claim 11, wherein a spring is arranged in the end portion of the track structure and exerts an outwardly directed force on the protruding structure.

15. A connector according to claim 11, wherein the rotatable engagement structure and pivot are provided in a first position and the receiving recess and protruding structure are provided in a second position, and a distance between the first position and the second position is larger than half the length of the connector from the second connection portion.

Description

DESCRIPTION OF THE DRAWINGS

(1) The invention will become more fully understood from the detailed description given herein below. The accompanying drawings are given by way of illustration only, and thus, they are not limitative of the present invention. In the accompanying drawings:

(2) FIG. 1A shows a connector according to the invention in closed configuration;

(3) FIG. 1B shows the connector shown in FIG. 1A in an open configuration, in which an air tube extends through an adaptor integrated in the connector;

(4) FIG. 1C shows the connector shown in FIG. 1B in a closed configuration;

(5) FIG. 2A shows a cross-sectional view of a connector according to the invention;

(6) FIG. 2B shows an engagement structure of a first portion rotatably attached to a shaft of a second portion of a connector;

(7) FIG. 2C shows an engagement structure of a second portion rotatably attached to a shaft of a first portion of a connector;

(8) FIG. 3A shows a system comprising a gripping device according to the invention and a connector;

(9) FIG. 3B shows the system shown in FIG. 3A, in a configuration in which the connector is being closed;

(10) FIG. 3C shows the system shown in FIG. 3B, in a configuration in which the connector has been closed.

(11) FIG. 4A shows a cross-sectional view of a connector according to the invention;

(12) FIG. 4B shows a close-up view of a portion of the connector shown in FIG. 4A;

(13) FIG. 4C shows forces exerted to the surfaces of the protruding structure and receiving recess of the connector shown in FIG. 4B;

(14) FIG. 5 shows an exploded view of a connector according to the invitation and an adaptor configured to be attached thereto;

(15) FIG. 6A shows a gripping device being mounted on a collaborative robot and

(16) FIG. 6B shows the gripping device shown in FIG. 6A when it has been mounted on the collaborative robot.

DETAILED DESCRIPTION OF THE INVENTION

(17) Referring now in detail to the drawings for the purpose of illustrating preferred embodiments of the present invention, a connector 70 of the present invention is illustrated in FIG. 1A.

(18) FIG. 1A illustrates a connector 70 according to the invention in closed configuration. The connector 70 comprises a first portion 74 configured to be (detachably or permanently) attached to a robot and a second portion 76 configured to be (detachably or permanently) attached to a gripping device or to another device (not shown).

(19) A plurality of screws 82, 82′, 82″, 82′″ protrude from a central planar base structure of the first portion 74 of the connector 70. Likewise, a plurality of screws 84″, 84′″ protrude from a structure of the second portion 74 of the connector 70. The screws 82, 82′, 82″, 82′″, 84″, 84′″ extend in extension of each other in a pairwise manner so that there is access through the connector 70, through the pairwisely corresponding screws 82, 82′, 82″, 82′″, 84″, 84′″. Accordingly, electrical connections (e.g. wires or cables with multiple wires), or tubes may be connected through said screws 82, 82′, 82″, 82′″, 84″, 84′″.

(20) The first portion 74 and the second portion 76 are provided with corresponding engagement structures enabling an easy, fast and user-friendly attachment and detachment of said first portion 74 and second portion 76. A press element 78 is arranged to unlock the engagement structures from each other, when the connector 70 has to be disassemble (split into two pieces).

(21) The connector 70 comprises a detachably attached adaptor 86 comprising a first part 88 and a second part 90. The first part 88 is provided with three holes 92 extending through the first part 88 and further extending through corresponding structures of the second part 90 hereby constituting holes 94. Accordingly, the adaptor 86 is adapted to connect pipes, wires or cables with multiple wires from a robot and the device being attached to the robot by means of the connector 70. Accordingly, by means of the adaptor 86, it is possible to connect electrical connections (by using electrical wires or cables with multiple wires) or tubes (e.g. air tubes) between said robot and device.

(22) FIG. 1B shows the connector 70 shown in FIG. 1A in an open configuration, in which a first air tube 100 is attached to the first part 88 of an adaptor 86 attached to the connector 70. A second air tube 101 is attached to the second part 90 of the adaptor 86. When the first part 88 and the second part 90 are attached to each other, the first air tube 100 and the second air tube 101 are sealingly brought into fluid communication with other. Accordingly, air can flow between the first air tube 100 and the second air tube 101. The sealing structure used (not shown) may be configured to be radially expanded upon being axially compressed.

(23) Alternatively, the sealing structures are structures may be configured to be axially expanded upon being radially compressed. The first air tube 100 extends through a portion of a first fitting 96 protruding from a hole in first part 88 the adaptor. The second air tube 101 extends through a portion of a second fitting 98 protruding from a hole in second part 90 of the adaptor.

(24) It is possible to electrically connect one or more electrical wires of a first cable (not shown) with one or more electrical wires of a second cable (not shown) by means of the adaptor 86. The distal portion of the first cable can be inserted into one of the fittings 96 the first part 88, whereas the distal portion of the second cable can be inserted into one of the fittings 98 the second part 90.

(25) The fittings 96, 98 may comprise corresponding electric coupling structures (not shown) allowing electrical connection of the distal portion of the first cable and the distal portion of the second cable.

(26) Accordingly, the adaptor 86 makes it possible to connect pipes 100, 101 and electrical cables in a fast, realisable and user-friendly manner.

(27) The first portion 74 and the second portion 76 are detachably attached to each other by means of a hinge (comprising a pin/shaft and a structure rotatably attached thereto, see FIG. 2A). A slot 80 is provided in the outer structure of the first portion 74. The slot 80 is configured to receive the press element 78.

(28) The connector 70 comprises a first connection portion (the hinge) constituting a rotatably attachment and a second connection portion constituting a mechanical locking structure that prevents the first portion 74 and the second portion 76 to be detached from each other.

(29) FIG. 1C shows the connector 70 shown in FIG. 1B in a closed configuration. The press element 78 is slideably arranged hereby allowing corresponding engagement structures of the first portion 74 and the second portion 76, respectively, to be brought out of engagement.

(30) FIG. 2A shows a cross-sectional view of a connector 70 according to the invention. The connector 70 comprises a first portion 74 and a second portion 76. The second portion 76 comprises a protruding structure 102 that is brought into engagement with a corresponding receiving recess 106 provided in the first portion 74.

(31) The protruding structure 102 is part of a slidably arranged press element (see FIG. 1A, FIG. 1B and FIG. 1C) provided in a track structure. A spring 104 is arranged in the end portion of the track structure and exerts an outwardly directed force on the press element. Hereby, the press element is kept in a locking engagement with the receiving recess 106 until the force is exceeded by an opposing directed force applied to press the press element in a direction towards the central portion of the connector 70. Hereby, the protruding structure 102 will be moved radially inwards and the protruding structure 102 will be brought out of engagement with the receiving recess 106. Accordingly, the protruding structure 102 and the receiving recess 106 form a second connection portion constituting a mechanical locking structure that prevents the first portion 74 and the second portion 76 to be detached from each other.

(32) The first portion 74 and the second portion 76 are detachably attached to each other by means of a hinge comprising a shaft (pin) 116 and a structure (not shown) rotatably and detachably attached to the shaft 116.

(33) FIG. 2B illustrates an engagement structure 118 of a first portion 74 rotatably attached to a shaft (pin) 116 of a second portion of a connector according to the invention. It can be seen, that the engagement structure 118 enables rotation of the first portion 74 relative to the pivot 116 and thus the second portion of a connector. By initially bringing the engagement structure 118 of a first portion 74 into engagement with the shaft (pin) 116, it is possible to rotate the first portion relative to the second portion hereby bringing the connector from an open configuration (as shown in FIG. 1B) into a closed configuration (as shown in FIG. 1C).

(34) It is possible to arrange the shaft (pin) 116 in the first portion of the connector and the engagement structure 118 in the second portion of the connector if desirable.

(35) FIG. 2C illustrates a solution that basically corresponds to the one shown in FIG. 2B. The engagement structure 118 is, however a component of a second portion 76 rotatably attached to a shaft (pin) 116 of a first portion of a connector according to the invention.

(36) FIG. 3A illustrates a system 72 comprising a gripping device 2 and a connector 70 corresponding to the one explained with reference to FIG. 1A, FIG. 1B, FIG. 1C and FIG. 2A. The connector 70 comprises a second portion 76 being attached to the gripping device 2. A slidably arranged press element 78 protrudes from the second portion 76.

(37) The connector 70 comprises a first portion 74 configured to be attached to a robot like shown in FIG. 6. The first portion 74 comprises a detachably attached plate 108 allowing mounting of an adaptor as explained with reference to FIG. 1A, FIG. 1B and FIG. 1C.

(38) FIG. 3B illustrates the system 72 shown in FIG. 3A, in a configuration in which the connector 70 is being closed.

(39) FIG. 3C illustrates the system 72 shown in FIG. 3B, in a configuration in which the connector 70 has been closed.

(40) FIG. 4A illustrates a cross-sectional view of a connector 70 according to the invention. The connector 70 comprises a first portion 74 and a second portion 76 attached thereto. The connector 70 comprises a shaft 116 arranged in one end of the connector 70 and a recess 106 provided in the first portion 74. The recess 106 is arranged in the opposite end of the connector 70 than the shaft 116. It can be seen that the first connection portion 1 is provided in a position, provided in a distance D larger than half the length L of the connector 70 from the second connection portion 1′. In fact, the first connection portion 1 is provided in a position, provided in a distance D larger than two thirds of the length L of the connector 70 from the second connection portion 1′. Furthermore, it can be seen that the first connection portion 1 is provided in a position, provided in a distance D larger than three fourths of the length L of the connector 70 from the second connection portion 1′.

(41) The first portion 74 is provided with a protruding structure 102 provided in the end of a slidably arranged engagement structure. The engagement structure is slidably arranged in a track structure 136. The protruding structure 102 is configured to be brought into engagement with the recess 106 hereby locking the first portion 74 relative to the second portion 76. A spring 104 is arranged in the track structure 136 and abuts the end wall of the track structure 136. The spring 104 extends into a bore provided in the engagement structure. Accordingly, the spring 104 is arranged to exert a force that will keep the protruding structure 102 of the engagement structure in engagement with the recess 106.

(42) FIG. 4B illustrates a close-up view of a portion (the second connection portion 1′) of the connector 70 shown in FIG. 4A. It can be seen that the protruding structure 102 has a contact surface 132 bearing against a corresponding contact surface 134 of the first portion 74. The spring 104 presses the protruding structure 102 outwardly so that the contact surface 132 of the protruding structure 102 is in contact with the contact surface 134 of the first portion 74. The angle θ between the contact surface of the protruding structure 102 and the longitudinal axis X′ of the slidably arranged engagement structure is indicated.

(43) The first portion 74 comprises an engagement structure 118 configured to be rotatably attached to a shaft 116 attached to the second portion 76.

(44) FIG. 4C illustrates a situation in which a force F is applied to separate the first portion from the second portion. Accordingly, a normal force F.sub.2 and a force F.sub.1 extending perpendicular to the surface 134 is exerted by the contact surface 134 towards the other contact surface 132. The reaction forces F′.sub.1, F′.sub.2 (exerted by the contact surface 132 towards the other contact surface 134) are indicated. Furthermore, the spring force F.sub.S exerted by the spring 104 (shown in FIG. 4A) is indicated.

(45) It is preferred that the second connection portion 1′ is constructed in such a manner that the friction force (the force resisting the relative sliding motion of the contact surfaces 132, 134 relative to each other) has a magnitude that exceeds the magnitude of the reaction force F′.sub.1. Hereby, it is possible to keep the protruding structure 102 in engagement with the recess 106 and keep the contact surfaces 132, 134 fixed to each other. In fact, it is possible to keep the contact surfaces 132, 134 fixed relative to each other independent on the spring force F.sub.S. Since the friction force depends on the normal force F.sub.2 and the coefficient of friction μ between the surfaces 132, 134, on the basis of knowledge of the coefficient of friction μ between the surfaces 132, 134, it is possible to determine the magnitude of the angle θ that will provide a self-locking second connection portion 1′. It is important to underline, that the angle θ needed for providing a self-locking second connection portion 1′ does not depend on the force F applied when a user tries to separate the first portion 74 from the second portion 76 because both the magnitude of the friction force and the magnitude of the reaction force F′.sub.1 are proportional to the force F as expressed in equation (1) and (2) below.
|F′.sub.1|=|F|sin(θ) (1)
|Friction force|=|F.sub.2|μ=|F|cos(θ)μ (2)

(46) Hereby, it follows that the ration between the magnitude of the friction force and the magnitude of the reaction force F′.sub.1 is constant as given by the following equation (3):

(47) $\begin{matrix} \frac{.Math. Friction force .Math.}{.Math. F_{1}^{'} .Math.} = \frac{.Math. F .Math. \cos (θ) μ}{.Math. F .Math. \sin (θ)} = \frac{μ}{\tan (θ)} & (3) \end{matrix}$

(48) It can be seen, that the angle θ is approximately 15 degrees in FIG. 4B and in FIG. 4C.

(49) In one embodiment it is preferred that the angle θ is within the range 5-30 degrees, preferably approximately 15 degrees. Hereby, it is possible to achieve an engagement between the contact surfaces 132, 134 that will prevent the surface 134 of the first portion 74 to provide a force large enough to press the protruding structure 102 out of engagement with the recess 106 when a force is applied to separate the first portion 74 from the second portion 76. Hereby, it is possible to provide a second connection portion 1′ that is self-locking.

(50) The second connection portion 1′ is self-locking when magnitude of the friction force exceeds the magnitude of the reaction force F′.sub.1 as expressed by the following equation (4):
|F′.sub.1|<|Friction force| (4)

(51) By applying equation (3) it follows that

(52) $\begin{matrix} \frac{.Math. Friction force .Math.}{μ} \tan (θ) = .Math. F_{1}^{'} .Math. < .Math. Friction force .Math. .Math. \tan (θ) < μ & (5) \end{matrix}$

(53) From (5) it follows that
θ<arctan(μ) (6)

(54) Accordingly, in a preferred embodiment the angle θ is smaller than the inverse tangent function of the coefficient of friction μ.

(55) FIG. 5 illustrates an exploded view of a connector 70 according to the invitation and an adaptor 86 configured to be attached thereto. The connector 70 comprises a second portion 76 provided with a slidably arranged slidably arranged engagement structure provided with a press element 78 in its distal end. The connector 70 comprises a first portion 74 provided with a slot 80 configured to receive the press element 78.

(56) The first portion 74 is configured to be attached to a robot (as illustrates in FIG. 6) and a second portion 76 configured to be attached to a device 2 configured to be connected to the robot. The first portion 74 and the second portion 76 are detachably attached to each other by means of a hinge comprising a shaft (116 shown in FIG. 4A) and an engagement structure (118 shown in FIG. 4A) rotatably attached thereto.

(57) The adaptor 86 is configured to be attached to the connector 70 and comprises a first connection part 88 configured to be attached to the first portion 74 of the connector 70 and a second connection part 90 configured to be attached to the second portion 76 of the connector 70. The adapter 86 comprises a number of connection structures 91 configured to connect the distal end of a first pipe or cable with the distal end of a second pipe or cable.

(58) The first connection part 88 comprises an attachment plate 122 provided with holes 124 for receiving screws 126. Hereby, the attachment plate 122 can be attached to the first portion 74 of the connector 70. Likewise, the second connection part 90 comprises an attachment plate 122′ provided with holes 124′ for receiving screws 126′. Hereby, the attachment plate 122′ can be attached to the second portion 76 of the connector 70.

(59) The first connection part 88 comprises a support structure 120 provided with three holes 92 for inserting the distal end of a first pipe or cable. Likewise, the second connection part 90 comprises a support structure 120′ provided with three holes 94 for inserting the distal end of a second pipe or cable.

(60) The connection structures 91 are arranged to connect the distal end of a first pipe or cable inserted through the one or more holes 92 in the support structure 120 of the of the first connection part 88 and the distal end of a second pipe or cable being inserted through the one or more holes 94 in the support structure 120′ of the of the second connection part 90.

(61) The first portion 74 comprises a protruding structure 102 that is configured to be brought into engagement with a corresponding receiving recess (106 shown in FIG. 4A) provided in the second portion 76. The second portion 76 is provided with two receiving structures 130 configured to receive a corresponding attachment plate 122, 122′ of the adaptor 86.

(62) Three fitting 96 extend from the holes 92 in the support structure 120 of the first connection part 88. Likewise, three fittings 98 extend from the holes 94 in the support structure 120′ of the second connection part 90. The fittings 96, 98 are provided with through-going holes 128, 128′ allowing insertion of a pipe or cable through said through-going holes 128, 128′.

(63) It may be an advantage to have a connector 70 for mechanically connecting a device 2 to a robot 20, wherein the connector 70 comprises a first portion 74 configured to be attached to the robot 20 and a second portion 76 configured to be attached to a device 2 configured to be connected to the robot 20, wherein the first portion 74 and the second portion 76 are detachably attached to each other by means of a hinge comprising a shaft 116 and an engagement structure 118 rotatably attached thereto, wherein

(64) a) the first portion 74 comprises a protruding structure 102 that is configured to be brought into engagement with a corresponding receiving recess 106 provided in the second portion 76 or

(65) b) the second portion 76 comprises a protruding structure 102 that is configured to be brought into engagement with a corresponding receiving recess 106 provided in the first portion 74,

(66) wherein the protruding structure 102 and the receiving recess 106 constitute a mechanical locking structure.

(67) It may be beneficial that the connector 70 comprises a detachably attached adaptor 86 comprising a first connection part 88 and a second part 90, wherein the adapter 86 comprises one or more connection structures 91 configured to connect the distal end of a first pipe 100 or cable with the distal end of a second pipe 101 or cable.

(68) It may be an advantage that the first portion 74 and the second portion 76 are provided with corresponding engagement structures 102, 106 constituting a snap-fit connection.

(69) It may be beneficial that the connector 70 comprises a slideably arranged press element 78 arranged to unlock the engagement structures 102, 106 from each other by pressing the press element 78. Hereby, the press element 78 can be used to bring the engagement structures 102, 106 in a relative configuration in which the connector 70 can disassemble. This is important when the connector 70 has to be split into the first portion 74 and the second portion 76.

(70) It may be an advantage that the connector 70 comprises a slideably arranged pull element arranged to unlock the engagement structures 102, 106 from each other by pulling the pull element. Hereby, the first portion 74 and the second portion 76 may be brought out of engagement by means of the pull element.

(71) It may be beneficial that the connector 70 comprises a rotatably arranged rotation element that is arranged to unlock the engagement structures 102, 106 from each other by rotating the rotation element.

(72) Hereby, the first portion 74 and the second portion 76 may be brought out of engagement by means of the rotation element.

(73) It may be an advantage that the connector 70 is configured to receive one or more adaptors 86 hereby providing a detachably attachment of the one or more adaptors 86 to the connector 70.

(74) It may be beneficial that the connector 70 comprises one or more receiving structures 130 configured to receive one or more corresponding attachment plates 122, 122′ of the adaptor 86.

(75) It may be an advantage that the connector 70 comprises a slot 80 provided in the outer structure of the first portion 74 or the second portion 76, wherein the slot 80 is configured to receive a press element 78, a rotation element or a pull element protruding from the first portion 74 or the second portion 76.

(76) It may be beneficial that the first portion 74 comprises a protruding structure 102 that is configured to be brought into engagement with a corresponding receiving recess 106 provided in the second portion 76 or that the second portion 76 comprises a protruding structure 102 that is configured to be brought into engagement with a corresponding receiving recess 106 provided in the first portion 74.

(77) It may be an advantage that the protruding structure 102 is part of a slidably arranged press element 78 provided in a track structure 136.

(78) It may be beneficial that a spring 104 is arranged in the end portion of the track structure 136 and exerts an outwardly directed force on the press element 78.

(79) Hereby, the press element 78 is kept in lockingly engagement with the receiving recess 106 until the force is exceeded by an opposing directed force applied to press the press element 78 into (e.g. in a direction towards the central portion of) the connector 70. Hereby, the protruding structure 102 will be moved radially inwards and the protruding structure 102 will be brought out of engagement with the receiving recess 106.

(80) It may be an advantage that the first portion 74 comprises a detachably attached plate 108 allowing mounting of an adaptor 86 or that the second portion 76 comprises a detachably attached plate 108 allowing for mounting of an adaptor 86.

(81) It may be beneficial that receiving recess 106 is provided in the opposite side of the connector 70 than the shaft 116.

(82) It may be an advantage to have an adaptor 86 configured to be attached to a connector 70 comprising a first portion 74 configured to be attached to a robot 20 and a second portion 76 configured to be attached to a gripping device 2, wherein the adaptor 86 comprises a first connection part 88 configured to be attached to the first portion 74 of the connector 70 and a second connection part 90 configured to be attached to the second portion 76 of the connector 70, wherein the adapter 86 comprises one or more connection structures 91 configured to connect the distal end of a first pipe 100 or cable with the distal end of a second pipe 101 or cable.

(83) The adaptor may comprise connection structures enabling that adjacent pipe ends, or adjacent cable ends can be connected. Hereby it is possible to apply the adaptor to establish connection between single wires, cables with multiple wires or pipes from the robot and the gripping device or an alternative device, respectively.

(84) It may be beneficial that the first connection part 88 comprises an attachment plate 122 provided with holes 124 for receiving screws 126. Hereby, the attachment plate 122 can be attached to the first portion 74 of the connector 70.

(85) It may be an advantage that the second connection part 90 comprises an attachment plate 122′ provided with holes 124′ for receiving screws 126′. Hereby, the attachment plate 122′ can be attached to the second portion 76 of the connector 70.

(86) It may be an advantage that the first connection part 88 comprises a support structure 120 provided with one or more holes 92 for inserting the distal end of a first pipe 100 or cable.

(87) It may be beneficial that the second connection part 90 comprises a support structure 120′ provided with one or more holes 94 for inserting the distal end of a second pipe 101 or cable.

(88) It may be an advantage that the connection structures 91 are arranged to connect the distal end of a first pipe 100 or cable inserted through the one or more holes 92 in the support structure 120 of the of the first connection part 88 and the distal end of a second pipe 101 or cable being inserted through the one or more holes 94 in the support structure 120′ of the of the second connection part 90.

(89) It may be beneficial that a fitting 96 extends from one or more of the holes 92 in the support structure 120 of the first connection part 88 and/or that a fitting 98 extends from one or more of the holes 94 in the support structure 120′ of the second connection part 90.

(90) It may be an advantage that a fitting 96 extends from one or more of the holes 92 in the support structure 120 of the first connection part 88 and that a fitting 98 extends from one or more of the holes 94 in the support structure 120′ of the second connection part 90.

(91) It may be beneficial that the connection structures 91 are provided with sealing structures configured to establish an air tight connection between the distal end of a first pipe 100 inserted through a hole 92 in the support structure 120 of the of the first connection part 88 and the distal end of a second pipe 101 (see FIG. 1A, FIG. 1B or FIG. 1C) inserted a hole 94 in the support structure 120′ of the of the second connection part 90.

(92) It may be an advantage that the attachment plate 122 of the first portion 74 comprises a planar surface configured to abut against a corresponding planar surface of the attachment plate 122′ of the second portion 76.

(93) FIG. 6A illustrates a gripping device 2 according to the invention being mounted on a collaborative robot 20. The robot 20 comprises a base 24 and a first arm 26 rotatably attached to said base 24. The robot 20 comprises a second arm 26′ rotatably attached to the first arm 26. The robot 20 moreover comprises a third arm 26″ rotatably attached to the second arm 26′. A first portion 74 is provided at the end of the third arm 26″. The first portion 74 is configured to receive a corresponding second portion 76 attached to the gripping device 2. The first portion 74 and the corresponding second portion 76 may constitute a connector according to the invention (see FIG. 1A, FIG. 1B, FIG. 1C and FIG. 2A).

(94) The gripping device 2 comprises a body portion and a plurality of extremities 10, 10′ moveably attached to the body portion of the gripping device 2. The first extremity 10 is provided with a plurality of suction members 12 gripping a first object 58 by providing a negative pressure in the suction members 12.

(95) The second extremity 10′ is provided with a plurality of suction members 12′ gripping a second object 60 by providing a negative pressure in the suction members 12′. The gripping device 2 comprises a centrally arranged support portion 14 provided with several suction members.

(96) In one preferred embodiment according to the invention, the gripping device 2 is configured to control the pressure provided at different sections of the suctions members 12, 12′ of the gripping device 2 independently of each other. This means that one portion of the gripping device 2 (e.g. the suction members 12 of a first section of the extremities 10, 10′) are controlled differently than another portion of the gripping device 2 (e.g. the suction members 12′ of a second section of the extremities 10, 10′). Hereby, it is possible to apply a single gripping device 2 to handle several objects 58, 60. This may be established by applying a gripping device 2 having a first valve (not shown) to control the pressure in the suction members 12 of a first section of the extremities 10, 10′ and another valve (not shown) to control the pressure in the suction members 12′ of another section of the extremities 10, 10′. The valves may be controlled by a control signal delivered by the robot 20.

(97) Accordingly, the gripping device 2 may use one or more first extremities 10 to grip a first object being moved from a first working area to a second working area, whereas the gripping device 2 may use one or more other extremities 10′ to grip a second object being moved from the second working area on the way back to the first working area.

(98) Alternatively, the gripping device 2 may comprise several individually controlled pumps connected to different portions of the gripping device 2. Accordingly, the different pumps may be used to provide different pressure as function of time.

(99) FIG. 6B illustrates the gripping device 2 shown in FIG. 6A when the gripping device 2 has been mounted on the collaborative robot 20.

LIST OF REFERENCE NUMERALS

(100) 1 First connection portion 1′ Second connection portion 2 Gripping device 4, 4′ Fixation portion 5 Body portion 10, 10′ Extremity 14 Support portion 20 Robot 24 Base 26, 26′, 26″ Arm 58 Object 60 Object 70 Connector 72 System 74 First portion 76 Second portion 78 Press element 80 Slot 82, 82′, 82″, 82′″ Screw 84, 84′, 84″, 84′″ Screw 86 Adaptor 88 First connection part 90 Second connection part 91 Connection structure 92, 94 Hole 96, 98 Fitting 100 Air tube 101 Air tube 102 Protruding structure 104 Spring 106 Receiving recess 108 Plate 110, 110′ Joint 112 Structure 114 Dividing structure 116 Pin/shaft 118 Engagement structure 120, 120′ Support structure 122, 122′ Attachment plate 124, 124′ Hole 126, 126′ Screw 128, 128′ Hole 130 Receiving structure 132 Contact surface 134 Contact surface 136 Track structure X′ Axis θ Angle L Length D Distance F, F.sub.1, F.sub.S, F.sub.2, F′.sub.1, F′.sub.2 Force μ Coefficient of friction

Easy collaborative tool changer

Assignee

Inventors

Cpc classification

Classification Explorer

B25J15/0625

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/0408

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/0616

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/0061

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/0441

PERFORMING OPERATIONS; TRANSPORTING

International classification

Classification Explorer

B25J15/00

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/04

PERFORMING OPERATIONS; TRANSPORTING

Classification Explorer

B25J15/06

PERFORMING OPERATIONS; TRANSPORTING

Abstract

Claims

Description