Interchangeable coupling
AssigneeKuka Schweissanlagen GmbH
InventorBotho Kikut
Life of this patent
Estimating the term…
Abstract
An interchangeable coupling is provided for removably fastening tools (2) to manipulators (3). The interchangeable coupling has two coupling parts (5, 6) with a form fit lock (7). The lock has several mobile balls (8) and a piston (11) for moving the balls. The coupling parts (5, 6) have corresponding cavities (9, 10). The cavities (9) in the tool side coupling part (5) are essentially cylindrical ball channels (30) with an oblique channel axis (31). In a locked position, these cavities (9) accommodate the blocking balls (8). The channel axis (31) preferably slopes from the robot-sided cavity (10) towards the tool side (2).
Claims18
A manipulator changeable coupling for detachably fastening tools, the coupling comprising:
- a first coupling part having holding openings comprising at least three cylindrical ball channels;
- a second coupling part having holding openings comprising three cylindrical ball channels, each channel having an oblique angle channel axis;
- a positive-lock locking mechanism including a cylinder connected to said first coupling part and having said three first part cylindrical ball channels spaced apart uniformly, a pneumatic source, a cylindrical pneumatic piston movable in said cylinder by connection to said pneumatic source between a locked position and a non-locked position, at least three locking balls, each ball being disposed in a respective first coupling part cylindrical ball channel, said piston acting on each ball in said locked position to maintain each ball at least partially in a respective first part cylindrical ball channel and an associated cylindrical ball channel with oblique angle channel axis of said second coupling part and a spring for acting on the piston to bias the piston toward said locked position;
- and
- positioning contacts for mutually supporting the first coupling part and the second coupling part, said positioning contacts being arranged outside the locking mechanism at a spaced location form a central axis of said piston.
A robot changeable coupling for detachably fastening tools, the coupling comprising:
- a first coupling part with a connected cylinder having three cylindrical ball channels spaced apart uniformly;
- a second coupling part having a portion surrounding a portion of said cylinder and having three cylindrical ball channels spaced apart uniformly corresponding to said first coupling part channels, each channel having an oblique angle channel axis;
- a pneumatic source;
- a cylindrical pneumatic piston movable in said cylinder by connection to said pneumatic source between a locked position and a non-locked position;
- three locking balls, each ball being disposed in a respective first coupling part cylindrical ball channel, said piston acting on each ball in said locked position to maintain each ball at least partially in a respective first part cylindrical ball channel and an associated cylindrical ball channel with oblique angle channel axis of said second coupling part;
- and
- positioning contacts for mutually supporting the first coupling part and the second coupling part, said positioning contacts being arranged outside the locking mechanism at a spaced location form a central axis of said piston.
A manipulator changeable coupling for detachably fastening tools, the coupling comprising:
- a first coupling part having holding openings comprising at least three cylindrical ball channels;
- a second coupling part having holding openings comprising three cylindrical ball channels, each channel having an oblique angle channel axis;
- a positive-lock locking mechanism including a cylinder connected to said first coupling part and having said three first part cylindrical ball channels spaced apart uniformly, a pneumatic source, a cylindrical pneumatic piston movable in said cylinder by connection to said pneumatic source between a locked position and a non-locked position, at least three locking balls, each ball being disposed in a respective first coupling part cylindrical ball channel, said piston having a plurality of recesses arranged at mutually spaced locations from one another on a piston jacket, said recesses for receiving corresponding ones of said balls, said recesses including substantially flattened areas, said piston acting on each ball in said locked position to maintain each ball at least partially in a respective first part cylindrical ball channel and an associated cylindrical ball channel with oblique angle channel axis of said second coupling part and a spring for acting on the piston to bias the piston toward said locked position;
- and
- positioning contacts for mutually supporting the first coupling part and the second coupling part, said positioning contacts being arranged outside the locking mechanism at a spaced location form a central axis of said piston.
Dependencies are inferred from the claim text.