Autoadaptive tactile device for working machines
AssigneeIng. C. Olivetti & C., S.p.A.
InventorAntonio d'Auria
Life of this patent
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Abstract
An automatic industrial robot is provided with an autoadaptive tactile device connected to a tool for performing at least one operation upon a workpiece. The tool is carried by a working head including a toolholder, and control means for effecting relative movement between the workpiece supporting means and the working head so as to bring a tool in the toolholder into a predetermined position relative to the workpiece subject to a certain tolerance. The toolholder is connected to the working head by a coupling which can be selectively freed to allow limited shifting of the toolholder relative to the working head and clamped so as to clamp the toolholder relative to the working head.
Claims20
In an autoadaptive tactile device for working on a workpiece, said autoadaptive tactile device including a working head and a tool coupled to said working head for performing an operation on said workpiece, the improvement comprising:
- coupling means having two different operative states for coupling said tool to said working head, said coupling means having a first operative state in which said tool shifts a predetermined amount relative to said working head in response to the engagement of said tool with said workpiece and a second operative state in which said tool is rigidly coupled to said working head;
- and
- control means associated with said coupling means for controlling said coupling means by selecting one of said two different operative states.
A working center having an autoadaptive tactile device for working on a workpiece comprising:
- supporting means for supporting said workpiece;
- at least one working head;
- at least one tool to perform an operation upon said workpiece;
- coupling means having two different operative states for coupling said tool to said working head, said coupling means having a first operative state in which said tool shifts a predetermined amount relative to said working head in response to the engagement of said tool with said workpiece and a second operative state in which said tool is rigidly coupled to said working head;
- positioning means for positioning said working head within a predetermined tolerance relative to a predetermined position on said workpiece;
- moving means for moving said working head toward said workpiece to cause said tool to engage said workpiece;
- and
- control means associated with said coupling means for controlling said coupling means by selecting one of said two different operative states, said control means selecting said first state during the movement of said working head by said moving means and selecting said second state thereafter to rigidly clamp said tool on said working head.
Dependencies are inferred from the claim text.