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61. 发明授权

US4850765A Self-locking tool and socket 失效
标题翻译：自锁工具和插座
公开(公告)号：US4850765A
公开(公告)日：1989-07-25
申请号：US134402
申请日：1987-12-17
申请人： Valdas S. Ramunas
发明人： Valdas S. Ramunas
IPC分类号： B23B31/107
CPC分类号： B23B31/1074 , Y10S279/90 , Y10T408/957 , Y10T409/309408 , Y10T409/30952 , Y10T82/2589
摘要： A self-locking tool and socket body combination includes a tool holder with a male section which may be received in a socket in the socket body. Tool grippers of a tool loading device grip onto an annular V-groove on the tool holder and also act on an actuator. The actuator is linked to a first and second wedge surface which are moved laterally inwardly against the urging of spring means. When the tool grippers are released, the spring means urge the first and second wedge surfaces laterally outwardly into engagement with first and second wedge follower surfaces in the socket body and this automatically locks the tool holder axially within the socket body without any other manual or automatic means required to lock the tool holder within the socket.
摘要翻译：自锁工具和插座本体组合包括具有阳部分的工具夹具，其可以被容纳在插座主体中的插座中。工具装载装置的工具夹具夹在工具架上的环形V形槽上并且还作用在致动器上。致动器连接到第一和第二楔形表面，其克服弹簧装置的推动横向向内移动。当工具夹具被释放时，弹簧装置将第一和第二楔形表面横向向外推动成与插座主体中的第一和第二楔形随动体表面接合，并且自动地将工具夹具轴向地锁定在插座主体内，而无需任何其他手动或自动将工具架锁定在插座中所需的手段。

62. 发明授权

US4847979A "Tool changer having a retaining means actuatable during loading of a bit along the central axis of a pocket" 失效
标题翻译： “具有在沿着口袋的中心轴线加载钻头期间可起动的保持装置的换刀装置”
公开(公告)号：US4847979A
公开(公告)日：1989-07-18
申请号：US165017
申请日：1988-03-07
申请人： Herbert M. Reed , Scott J. Sager
发明人： Herbert M. Reed , Scott J. Sager
IPC分类号： B23B39/16 , B23Q3/155 , B23Q3/157 , H05K3/00
CPC分类号： B23B39/161 , B23Q3/15526 , B23Q3/1554 , B23Q3/15773 , H05K3/0044 , Y10S279/90 , Y10T483/1781 , Y10T483/1786
摘要： The invention is directed to a method and apparatus for selectively and simultaneously drilling a plurality of holes in thin panels such as printed circuit boards, while providing for automatic changing of the drill bits, individually or plurally, as required. A tray of drill bits is driveable in X and a row of vacuum pickers are driveable in Y, so that the various bit locations of the tray are addressable by such X-Y positioning, and selectable vacuum pickers are extensible and retractable so as to pick and place the drill bits at various matrix locations of the tray. The vacuum pickers also are extensible and retractable through corresponding tray openings in order to deliver replacement bits to, and retrieve used bits from, a flipper assembly associated with each drilling module. Each flipper assembly transfers bits rack and forth between the vacuum picker and drill without having to transfer either bit through the opening in a footprint portion of the pressure foot which engages the materials to be drilled during the drilling operation. Thus, the footprint opening may be made smaller in diameter than depth stop collars or the like which are of greater diameter than the working portion of the bit which is advanced through the footprint opening during drilling. This smaller footprint opening of the pressure foot is for minimizing or eliminating hole "smears" and for overcoming problems normally associated with the so-called "oil can effect".

63. 发明授权

US4726721A Tool coupling 失效
标题翻译：工具联轴器
公开(公告)号：US4726721A
公开(公告)日：1988-02-23
申请号：US917402
申请日：1986-10-10
申请人： Helmut Heel , Wolfgang Effenberger
发明人： Helmut Heel , Wolfgang Effenberger
IPC分类号： B23Q3/12 , B23B31/00 , B23B31/117 , B23B31/26 , B23C5/26
CPC分类号： B23B31/265 , B23B31/005 , B23B31/006 , B23B2270/06 , Y10S279/90 , Y10T408/95 , Y10T409/309464
摘要： For the attachment of a tool provided with a cylindrical or frusto-conical shank to a rotating machine spindle at one end of the machine spindle a complementary reception opening for the shank is provided. The shank contains a coaxial bore and a plurality of slots distributed in the circumferential direction and extending through radially to the bore, which divide the shank within the reception opening into segments. In the region of the slots the shank widens out under the influence of centrifugal forces more than does the region of the spindle surrounding the shank. Thus the radial guidance of the tool is not lost even at very high rotation rates of 10,000 r.p.m. and above. A support shoulder on an annular collar of the tool prevents axial reshifting of the shank by reason of the axial stress of a clamping device and improves the rigidity of the tool-spindle connection. The bore extends through the annular collar. The external diameter of the annular collar is preferably made larger than according to standard. The end face of the spindle, intended to abut on the support shoulder, is radially inwardly provided with an annular recess and supports the tool on a maximum possible diameter. In addition a shape-engaging coupling can be provided between tool and spindle.
摘要翻译：为了将设置有圆柱形或截头圆锥形柄的工具连接到机器主轴的一端处的旋转机器主轴上，提供了用于柄的互补的接收开口。柄部包含同轴孔和沿圆周方向分布的多个槽，并且径向延伸到孔中，该孔将接收孔内的柄分成段。在槽的区域中，在离心力的影响下，柄部比围绕柄部的心轴的区域更宽。因此，即使在10,000转/分的非常高的旋转速度下，工具的径向引导也不会损失。以上。工具的环形套环上的支撑肩可防止由于夹紧装置的轴向应力引起的柄的轴向移动，并提高了工具主轴连接的刚性。孔延伸穿过环形环。优选地，环形套环的外径大于按照标准。心轴的端面，旨在抵靠在支撑肩上，径向向内设有环形凹槽，并以最大可能的直径支撑工具。此外，可以在工具和主轴之间提供形状接合联接。

64. 发明授权

US4676142A Adapter with modular components for a robot end-of-arm interchangeable tooling system 失效
标题翻译：具有模块化组件的适配器，用于机器人臂架可互换工具系统
公开(公告)号：US4676142A
公开(公告)日：1987-06-30
申请号：US728763
申请日：1985-04-30
申请人： Peter E. McCormick , Rick C. Edwards , Walter D. Autry, Jr. , Timothy D. Culbertson , Jerome F. Goch , Marc S. Linder
发明人： Peter E. McCormick , Rick C. Edwards , Walter D. Autry, Jr. , Timothy D. Culbertson , Jerome F. Goch , Marc S. Linder
IPC分类号： B23Q3/155 , B23Q7/04 , B25J15/04 , G05B19/418 , F01B31/00 , B25J11/00 , B25J17/02
CPC分类号： B25J15/04 , B23Q3/15553 , B23Q7/043 , B23Q7/046 , G05B19/41825 , G05B2219/39468 , Y02P90/087 , Y10S279/90 , Y10S279/905 , Y10S483/901 , Y10T279/1241
摘要： An improved adapter is provided for an interchangeable robot end-of-arm tooling system. The quick change adapter is made from modular components including a body, an interface package, and a robot adapter plate with locator system.
摘要翻译：提供了一种改进的适配器，用于可互换的机器人末端臂工具系统。快速更换适配器由模块化组件制成，包括主体，接口包和带定位器系统的机器人适配器板。

65. 发明授权

US4620362A Changeable tooling system for robot end-effector 失效
标题翻译：可更换的机器人末端执行器的加工系统
公开(公告)号：US4620362A
公开(公告)日：1986-11-04
申请号：US623777
申请日：1984-06-22
申请人： Gregory E. Reynolds
发明人： Gregory E. Reynolds
IPC分类号： B25J15/04 , B23Q3/155
CPC分类号： B25J15/04 , Y10S279/90 , Y10S294/907 , Y10S483/901 , Y10T483/134
摘要： A robotic tool changing system which is compatible with manipulators (20) of the type having a pair of opposable vise-like end-effector "fingers" (22,24) formed on an end-effector (21) is disclosed which may be used to grip and manipulate a wide range of different tools (42,44,45) and wherein the end-effector (21) includes: (i) alignment ports (29,30,34,35) formed on the gripping fingers (22,24) for reception of alignment pins (29',30',34',35') formed on the tools (42,44,45); (ii) a resistor (R1) embedded within each tool (42,44,45) which is uniquely representative of that tool; (iii) a tool comparator circuit (50) having at least one reference resistor (R2) for enabling identification of the particular tool gripped by the end-effector (21) and for generating a control output signal capable of selecting, defining and enabling and requisite utility(ies) and utility control line(s) required for proper operation of the gripped tool; (iv) electrical contact means (31,32) formed in at least one finger (22) for cooperable engagement with electrical connector pins ( 31',32') formed on the tools (42,44,45); and (v), fluid connector ports (36,38) formed in at least one finger (24) for enabling fluid transfer to the tool (42,44,45) via fluid connecting ports (36',38') formed in the tool; so as to enable sensing of the resistance value of the resistor (R1) and delivery of any required electrical utility(ies) and/or fluid utility(ies) via suitable utility control line(s) (33,39,40).
摘要翻译：公开了一种机器人工具更换系统，其与形成在端部执行器（21）上的具有一对可对置的虎钳状末端执行器“指状物”（22,24）的类型的操纵器（20）相兼容，其可以被使用夹持和操纵各种不同的工具（42,44,45），并且其中末端执行器（21）包括：（i）形成在夹持指状物（22）上的对准端口（29,30,34,35） 24），用于接收形成在工具（42,44,45）上的对准销（29'，30'，34'，35'）; （ii）嵌入每个工具（42,44,45）内的唯一代表该工具的电阻器（R1）; （iii）具有至少一个参考电阻器（R2）的工具比较器电路（50），用于使得能够识别由末端执行器（21）夹持的特定工具，并且用于产生能够选择，定义和使能的控制输出信号，所需的实用工具和公用事业控制线，用于正确操作抓握的工具; （iv）形成在至少一个手指（22）中的电接触装置（31,32），用于与形成在工具（42,44,45）上的电连接器销（31'，32'）协作地接合; 和（v），形成在至少一个手指（24）中的流体连接器端口（36,38），用于通过流体连接端口（36'，38'）流体传递到工具（42,44,45）工具; 以便能够通过适当的公用事业控制线（33,39,40）感测电阻器（R1）的电阻值和传送任何所需的电力公司和/或流体公用事业。

66. 发明授权

US4610075A Tool holder for industrial robots 失效
标题翻译：工业机器人刀架
公开(公告)号：US4610075A
公开(公告)日：1986-09-09
申请号：US677527
申请日：1984-11-30
申请人： Erik Eriksson
发明人： Erik Eriksson
IPC分类号： B23Q3/157 , B25J15/04
CPC分类号： B25J15/04 , Y10S279/90 , Y10S483/901 , Y10T279/1241 , Y10T409/309408 , Y10T409/309464 , Y10T483/1793
摘要： A tool holder for an industrial robot intended to permit a programmed automatic replacement of tools. The holder and the tool are formed with connecting elements adapted to each other. The holder includes a cylinder housing, in which two pistons, interconnected by a connecting member, are slidably located. This connecting member is formed with a radially oriented, axially elongated opening with two different widths. On either side of the narrower opening part the connecting member is formed with camming surfaces which are inclined relative to an axial plane through the pistons.
摘要翻译：用于工业机器人的刀架，用于允许程序自动更换刀具。保持器和工具形成有彼此适配的连接元件。保持器包括气缸壳体，其中通过连接构件互连的两个活塞可滑动地定位。该连接构件形成有具有两个不同宽度的径向定向的轴向细长的开口。在较窄的开口部分的任一侧，连接构件形成有相对于通过活塞的轴向平面倾斜的凸轮表面。

67. 发明授权

US4488241A Robot system with interchangeable hands 失效
标题翻译：具有可互换手的机器人系统
公开(公告)号：US4488241A
公开(公告)日：1984-12-11
申请号：US355349
申请日：1982-03-08
申请人： Burleigh M. Hutchins , Louis Abrahams
发明人： Burleigh M. Hutchins , Louis Abrahams
IPC分类号： B25J9/00 , B25J9/16 , B25J15/04 , F23L17/10 , F23L17/14 , G05B19/18 , G05B19/414 , B23Q3/155 , G05B19/42
CPC分类号： F23L17/10 , B25J15/04 , B25J9/1612 , F23L17/14 , G05B19/4148 , G05B2219/33182 , G05B2219/33337 , G05B2219/36113 , G05B2219/39468 , G05B2219/42237 , G05B2219/49302 , Y10S279/90
摘要： A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.
摘要翻译：一种包括容易互换的手的机器人系统。通常系统将由计算机进行控制，计算机将通过机器人上的模拟脉宽发生器与每只手中的伺服电机进行通讯。计算机控制器还将能够利用机器人相关联的电路从每只手中直接获取信息。

68. 发明授权

US4304513A Milling machine including improved tool knock-out means 失效
标题翻译：铣床包括改进的刀具淘汰手段
公开(公告)号：US4304513A
公开(公告)日：1981-12-08
申请号：US73721
申请日：1979-09-10
申请人： Gerald V. Roch
发明人： Gerald V. Roch
IPC分类号： B23B31/26 , B23C1/06 , B23C5/26
CPC分类号： B23C1/06 , B23B31/265 , Y10S279/90 , Y10T279/1208 , Y10T279/1241 , Y10T279/16 , Y10T279/17471 , Y10T279/21 , Y10T279/3481 , Y10T409/309464
摘要： A milling machine includes a C-shaped frame, tool support member movable in a vertical direction, a saddle member movable in a transverse direction, a work table movable in a longitudinal direction, a tool drive unit, a tool knock-out assembly and two oppositely positioned and removable bearing ways associated with each direction of travel. For the vertical axis the bearing ways are between the C-shaped frame and the tool support member. The tool drive unit includes a hollow tool spindle and a drive motor with a vertically extending output shaft which is rigidly and coaxially connected to the hollow tool spindle. The tool knock-out assembly includes a spring-loaded tool collet assembly and a double-action air cylinder arranged in a surrounding coaxial relationship with the output shaft. The tool collet assembly includes a spindle shaft surrounded by a vertical stack of belleville spring washers and the distal end is fitted with a tool collet which includes six collet arms and this tool collet assembly is movable between a tool-gripped position and a tool-released position. Each vertical axis bearing way longitudinally extends in a vertical direction and includes a track shaft portion attached to the C-shaped frame and a bearing case portion attached to the tool support member. Reciprocating relative motion between the tool support member and the C-shaped frame occurs at the two bearing way locations and the drive motor for the tool moves with the hollow tool spindle in a vertical direction.
摘要翻译：铣床包括C形框架，可沿垂直方向移动的工具支撑构件，可沿横向移动的鞍座构件，可沿纵向移动的工作台，工具驱动单元，工具拆卸组件和两个与每个行进方向相关联的相对定位和可移除的轴承方式。对于垂直轴，轴承方式在C形框架和工具支撑构件之间。工具驱动单元包括中空的工具主轴和具有垂直延伸的输出轴的驱动马达，其刚性并同轴地连接到中空工具主轴。工具拆卸组件包括弹簧加载的工具夹头组件和与输出轴以周围的同轴关系布置的双动气缸。工具夹头组件包括由垂直堆叠的贝氏弹簧垫圈围绕的主轴，并且远端装有工具夹头，该工具夹头包括六个夹头臂，并且该工具夹头组件可在工具夹持位置和工具释放之间移动位置。每个垂直轴承方向沿垂直方向纵向延伸，并且包括附接到C形框架的轨道轴部分和附接到工具支撑构件的轴承箱部分。工具支撑构件和C形框架之间的往复相对运动发生在两个轴承方向位置处，并且用于工具的驱动电机随着空心工具主轴在垂直方向上移动。

69. 发明授权

US3845546A Tool change mechanism 失效
标题翻译：工具变更机制
公开(公告)号：US3845546A
公开(公告)日：1974-11-05
申请号：US28980072
申请日：1972-09-18
申请人： OERLIKON BUEHRLE AG
发明人： RUTSCHKE A
IPC分类号： B23Q3/157 , B23Q3/155 , B23Q3/00
CPC分类号： B23Q3/1554 , Y10S279/90 , Y10T483/1736
摘要： A tool change mechanism comprising a tool holder and a clamp with arms for gripping same. The tool holder possesses a flange with three recesses at the periphery of the flange with which engage the arms of the clamp. The recesses are formed by grooves directed perpendicular to the axis of the tool holder, and each arm engages with two grooves of the flange.
摘要翻译：一种刀具更换机构，其包括刀架和具有夹持臂的夹具。刀架具有凸缘，凸缘在凸缘的周边具有三个凹槽，与凸块的臂接合。凹槽由垂直于工具夹持器轴线的凹槽形成，每个臂与凸缘的两个凹槽啮合。

70. 发明授权

US3788657A Tool holder for use with automatic tool changing apparatus 失效
标题翻译：具有自动工具更换装置的工具夹
公开(公告)号：US3788657A
公开(公告)日：1974-01-29
申请号：US3788657D
申请日：1972-08-30
申请人： EX CELL O CORP
发明人： SUTTON R
IPC分类号： B23B31/00 , B23Q3/155 , B23B31/36
CPC分类号： B23B31/006 , B23B2226/61 , B23B2231/0288 , B23B2231/0292 , B23Q3/15553 , Y10S279/90 , Y10T279/17
摘要： A tool holder for use with a machine tool having a rotatable spindle and an automatic tool changing apparatus for positioning the tool holder in alignment with the spindle and for engagement therewith for performing a work operation on a workpiece by a tool carried in the tool holder. The tool holder includes a holder body having a shank adapted to be received in the drive spindle of a machine tool, and a radially outward extended peripheral flange. The flange is provided with a pair of elongated, radially inward extended pockets which are identically shaped and disposed on opposite sides of the flange. The elongated pockets are adapted to operatively receive complementary shaped fingers of the tool gripping mechanism of an automatic tool changer apparatus. A pair of inserts having selectively spaced apart bores are adapted to be mounted in the elongated pockets to permit locating and securing the tool holder in a predetermined orientation in the tool gripping mechanism of the automatic tool changing apparatus.
摘要翻译：一种与具有可旋转主轴的机床一起使用的工具架和用于将工具架定位成与主轴对准的自动换刀装置，并用于与其接合，用于通过工具架上的工具对工件进行加工操作。工具架包括具有适于容纳在机床的驱动主轴中的柄和径向向外延伸的周边凸缘的保持器主体。凸缘设有一对细长的径向向内延伸的凹穴，其相同形状并设置在凸缘的相对侧上。细长的凹穴适于操作地接收自动换刀装置的工具夹持机构的互补形状的指状物。具有选择性间隔开的孔的一对插入件适于安装在细长的凹穴中，以允许在自动换刀装置的工具夹持机构中以预定的方向定位和固定工具架。

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