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1. CN109476026 - Tool holders for robotic systems having collision detection

Office
China
Application Number 201780044893.1
Application Date 29.06.2017
Publication Number 109476026
Publication Date 15.03.2019
Grant Number 109476026
Grant Date 06.09.2022
Publication Kind B
IPC
B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
B23K 37/00
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass
CPC
B23K 9/1006
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
10Other electric circuits therefor; Protective circuits; Remote controls
1006Power supply
B23K 9/173
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
16making use of shielding gas
173and of a consumable electrode
B23K 9/321
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
32Accessories
321Protecting means
B23K 37/006
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
006Safety devices
B25J 19/063
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
063working only upon contact with an outside object
Y10S 901/09
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
901Robots
02Arm motion controller
09Closed loop, sensor feedback controls arm movement
Applicants ILLINOIS TOOL WORKS INC.
伊利诺斯工具制品有限公司
Inventors BASIT NAUMAN
瑙曼·巴西特
Agents 上海脱颖律师事务所 31259
Priority Data 15219591 26.07.2016 US
Title
(EN) Tool holders for robotic systems having collision detection
(ZH) 用于具有碰撞检测的机器人系统的工具固持器
Abstract
(EN) A robotic tool holder (102) includes an actuator (204) that is disposed within a housing (202) and configured to hold a tool (104). The housing and the actuator are in contact via dowels (408, 410, 412, 414, 416, 418, 420, 422, 424) to limit movement of the actuator toward a distal end of the housing. Ones of the dowels that are in contact are in line contact and the ones of the dowels that are incontact are in a triangular geometry. A pressure plate (206) is in line contact with the actuator within the housing around a circumference of the pressure plate. Springs (208) are in contact with the pressure plate to bias the actuator toward a proximal end of the housing via the pressure plate. The springs are in contact with a mounting plate (210) opposite to the pressure plate. A sensor switch (212) detects a shock force on the actuator and outputs a signal in response to the shock force.
(ZH) 一种机器人工具固持器(102)包含致动器(204),致动器(204)设置在外壳(202)内并被配置成固持工具(104)。外壳和致动器经由多个榫(408、410、412、414、416、418、420、422、424)而接触以限制致动器朝向外壳的远端的移动。榫中接触的榫为线接触,并且榫中接触的榫呈三角形几何形状。压力板(206)围绕压力板的圆周在外壳内与致动器线接触。弹性元件(208)与压力板接触以经由压力板将致动器朝向外壳的近端偏置。弹性元件与与压力板相对的安装板(210)接触。传感器开关(212)检测致动器上的冲击力,并响应于冲击力输出信号。