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Interchangeable Tooling for Robots

IP.com Disclosure Number: IPCOM000046524D
Original Publication Date: 1983-Aug-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 30K

Publishing Venue

IBM

Related People

Rigbey, LJ: AUTHOR

Abstract

During the process of assembly using a robot it is often necessary to change tools, particularly when parts to be assembled are held by vacuum or controlled by air pressure. The requirement for accurate repeatability of the operation is not always met by grippers which, although generally parallel to each other, become non-parallel when applying a gripping force. The problem is overcome by providing the gripper fingers with shaped gripping surfaces which co-act with a specially designed portion of the tool body, which is common to all the tools available for selection. The shape of the body portion, common to all tools, and the cooperating gripping surfaces are shown in the figure. The body portion 1 is cylindrical with a flange 2 placed same distance along its length.

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Interchangeable Tooling for Robots

During the process of assembly using a robot it is often necessary to change tools, particularly when parts to be assembled are held by vacuum or controlled by air pressure. The requirement for accurate repeatability of the operation is not always met by grippers which, although generally parallel to each other, become non-parallel when applying a gripping force. The problem is overcome by providing the gripper fingers with shaped gripping surfaces which co-act with a specially designed portion of the tool body, which is common to all the tools available for selection. The shape of the body portion, common to all tools, and the cooperating gripping surfaces are shown in the figure. The body portion 1 is cylindrical with a flange 2 placed same distance along its length. The flange has two flat surfaces 3 and 4 opposite each other. The gripping surface of one gripper finger 5 is provided with a V-shaped notch 6 of sufficient size to locate the cylindrical portion of the tool, and also with a recess 7 that is slightly larger than the thickness of the flange 2. The gripping surface of the other gripper finger 8 is provided with a bar 9 which contacts one flat 3 or 4 of the flange 2. When a tool is gripped by the gripper fingers, the cylinder and V-shaped notch provide alignment, the flange and recess provide axial positioning of the cylinder, and the flat surface and the bar provide rotational positioning.

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