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1. 发明申请

WO2020144521A1 COUNTER WRIST JOINT OF ROBOTIC ARMS FOR OPERATING TOOLS 审中-公开
公开(公告)号：WO2020144521A1
公开(公告)日：2020-07-16
申请号：PCT/IB2019/061153
申请日：2019-12-20
申请人： GIMATIC S.R.L.
发明人： BELLANDI, Giuseppe
IPC分类号： B25J9/10 , B25J15/02 , B25J15/10
摘要： A device for supporting and operating tools, named counter wrist joint, that allows not only to hook the tool to the robotic arm but also to act as an actuator of the tool, in a simple and effective way, is described. The counter wrist joint comprises a tool supporting element, a tool operating element having the function to cause its operation, for example the closing or opening in case of a gripper, in substitution of an actuator integrated in the tool itself, and a transmission mechanism functionally interposed between the wrist joint of the robotic arm and the element supporting the tool. In a first configuration of the transmission mechanism, the element operating the tool and the element supporting the tool are rotationally integral with the rotatable wrist joint of the robotic arm, and the tool stays idle. In a second configuration of the transmission mechanism, the element operating the tool is rotationally integral with the rotatable wrist joint of the robotic arm and the rotation of the element supporting the tool is instead locked. The brake assembly intervenes to lock the tool when necessary so that to make sure that it neither accidentally rotates and/or is activated or deactivated in an undesired way, for example by effect of inertia.

2. 发明申请

WO2020058779A1 ELECTRIC TOOL CHANGER 审中-公开
公开(公告)号：WO2020058779A1
公开(公告)日：2020-03-26
申请号：PCT/IB2019/056651
申请日：2019-08-05
申请人： GIMATIC S.R.L.
发明人： BELLANDI, Giuseppe
IPC分类号： B25J15/04 , B25J19/00
摘要： A tool changer is described, the tool changer comprising a robot-side portion having a longitudinal axis and intended to be fixed to a manipulator, and a tool-side portion intended to be fixed to a tool and to abut against the robot- side portion along the longitudinal axis. The tool changer also comprises locking means to lock the tool-side portion on the robot-side portion, and an actuator of the locking means. The locking means are selectively movable by the actuator between a locked position, where they engage the tool-side portion that abuts against the robot-side portion, thereby preventing the separation of the two portions of the tool changer, and an unlocked position, where they do not engage the tool-side portion, which can therefore be separated from the robot- side portion. The actuator of the locking devices is an electric motor whose drive shaft rotates on a rotation axis parallel to the longitudinal axis and not orthogonal or skew with respect to the latter.

3. 发明申请

WO2021005424A1 PNEUMATIC LINEAR SLIDE ACTUATOR 审中-公开
公开(公告)号：WO2021005424A1
公开(公告)日：2021-01-14
申请号：PCT/IB2020/054270
申请日：2020-05-06
申请人： GIMATIC S.R.L.
发明人： BELLANDI, Giuseppe
IPC分类号： F15B15/24 , F15B15/14
摘要： A pneumatic linear slide actuator is described, more commonly identified as pneumatic slide, comprising a body, inside which there is at least one cylindrical chamber, and a piston movable in the corresponding cylindrical chamber in response to the thrust applied by a pressurized fluid supplied to the cylindrical chamber itself from the outside; the pneumatic slide also comprises a header connected to the piston, or pistons if more than one, and susceptible of reciprocate movements with respect to the body between a proximal position and a distal position, an adjusting rod to adjust the end-of-travel, the former being threaded and housed in the body parallel to the cylindrical chamber, or cylindrical chambers if more than one, and at least one stop element, or spacer, arranged on the adjusting rod; in the distal position or in the proximal position of the header, the stop element is in abutment against an abutment surface of the body. Advantageously, in a first configuration, defined as locked, the at least one stop element is locked on the adjusting rod and is not susceptible of movements with respect to the latter, and in a second configuration, defined as tightened, the at least one stop element meshes the thread of the adjusting rod and a displacement of the stop element on the adjusting rod itself corresponds to a rotation of the adjusting rod.

4. 发明申请

WO2020065424A1 TOOL CHANGING DEVICE FOR A ROBOT WITH THE MECHANICAL COUPLING ELEMENTS BEING PNEUMATIC FITTINGS 审中-公开
公开(公告)号：WO2020065424A1
公开(公告)日：2020-04-02
申请号：PCT/IB2019/057405
申请日：2019-09-03
申请人： GIMATIC S.R.L.
发明人： BELLANDI, Giuseppe
IPC分类号： B25J15/04
摘要： A tool changing device, preferably for collaborative robots, comprising a first plate constrainable to a robot and provided with at least one first supplying or suctioning duct to supply or suction a working fluid, and a second plate constrainable to a tool to be moved, able to be removably fastened to the first plate and provided with at least one second supplying or suctioning duct to supply or suction the working fluid to/from the tool, is described. The tool changing device is further provided with mechanical plate- coupling elements able to be locked on the other plate, and with respective locking means and pneumatic fittings to fluidically connect the at least one first duct to the at least one second duct. Advantageously, the mechanical coupling elements are the pneumatic fittings or, conversely, the pneumatic fittings are the mechanical coupling elements.

5. 发明申请

WO2019123047A1 SUSPENSION DEVICE OF SUCTION PADS OF MANIPULATORS 审中-公开
公开(公告)号：WO2019123047A1
公开(公告)日：2019-06-27
申请号：PCT/IB2018/059134
申请日：2018-11-20
申请人： GIMATIC S.R.L.
发明人： BELLANDI, Giuseppe
IPC分类号： B25J15/06 , B25J19/00 , B25J17/02
CPC分类号： B25J15/0616 , B25J17/0225 , B25J19/0004
摘要： A suspension device of suction pads of industrial manipulators is described, which can also be defined as level compensator. The device comprises a body and a telescopic stem or passing through the body, and sliding between an extended position and a retracted position. A spring constantly applies a thrust on the stem to bring it to the extended position. The device is hollow to allow the suction of the air from the suction pad constrained to the stem. Advantageously the suspension device comprises a brake which can be activated to brake, i.e., slow down, the stroke of the stem or stop it completely.

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