Tool changer for a robot and changing system therefor

Tool changer for a robot, comprising a base unit, a changing unit which can be locked on the base unit, movable locking elements which are provided on the base unit, and receptacles which are provided on the changing unit, the locking elements interacting with the receptacles in a locking position in order to lock the changing unit on the base unit and releasing the receptacles in an unlocking position, said tool changer also comprising a rotary element which is provided on the base unit and is rotatably mounted about its longitudinal axis, the locking elements being movement-coupled to the rotary element in such a way that the locking elements are moved when the rotary element is rotated, characterized in that the rotary element is movement-coupled to a rotationally fixed and axially movable actuation element such that, when the rotary element is rotated, the actuation element changes its position in the axial direction, in that the actuation element is movement-coupled to or forms a pivot pin which extends perpendicularly to the longitudinal axis of the actuation element, in that a joint pin is provided on each of the locking elements, and in that, between the pivot pin and each joint pin, at least one lever arm is provided such that, when the pivot pin is moved in the axial direction, the joint pins and thus also the locking elements are moved in a perpendicular direction running perpendicularly to the axial direction, characterized in that, in the unlocking position, the connecting axes between the respective joint pins and the pivot pin forms an angle α with the axial direction in the range of from 30° to 60° and in that, in the locking position, the connecting axes between the respective joint pins and the pivot pin form an angle α with the axial direction in the range of from under 91° to over 90°.

Tool changer for a robot, comprising a base unit, a changing unit which can be locked on the base unit, movable locking elements which are provided on the base unit, and receptacles which are provided on the changing unit, the locking elements interacting with the receptacles in a locking position in order to lock the changing unit on the base unit and releasing the receptacles in an unlocking position, said tool changer also comprising a rotary element which is provided on the base unit and is rotatably mounted about its longitudinal axis, the locking elements being movement-coupled to the rotary element in such a way that the locking elements are moved when the rotary element is rotated, characterized in that the rotary element is movement-coupled to a rotationally fixed and axially movable actuation element such that, when the rotary element is rotated, the actuation element changes its position in the axial direction, in that the actuation element is movement-coupled to or forms a pivot pin which extends perpendicularly to the longitudinal axis of the actuation element, in that a joint pin is provided on each of the locking elements, and in that, between the pivot pin and each joint pin, at least one lever arm is provided such that, when the pivot pin is moved in the axial direction, the joint pins and thus also the locking elements are moved in a perpendicular direction running perpendicularly to the axial direction, characterized in that a displaceable axial stop is provided for adjusting the end position of the actuation element in the axial direction.

Tool changer for a robot, comprising a base unit, a changing unit which can be locked on the base unit, movable locking elements which are provided on the base unit, and receptacles which are provided on the changing unit, the locking elements interacting with the receptacles in a locking position in order to lock the changing unit on the base unit and releasing the receptacles in an unlocking position, said tool changer also comprising a rotary element which is provided on the base unit and is rotatably mounted about its longitudinal axis, the locking elements being movement-coupled to the rotary element in such a way that the locking elements are moved when the rotary element is rotated, characterized in that the rotary element is movement-coupled to a rotationally fixed and axially movable actuation element such that, when the rotary element is rotated, the actuation element changes its position in the axial direction, in that the actuation element is movement-coupled to or forms a pivot pin which extends perpendicularly to the longitudinal axis of the actuation element, in that a joint pin is provided on each of the locking elements, and in that, between the pivot pin and each joint pin, at least one lever arm is provided such that, when the pivot pin is moved in the axial direction, the joint pins and thus also the locking elements are moved in a perpendicular direction running perpendicularly to the axial direction, characterized in that positioning recesses or positioning rods by means of which the changing unit can be positioned at a changing station are provided on the changing unit.