US4863206A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Support for a gripper
Assignee: Vodafone GmbH
•
Filing: 1987-11-30
•
Granted: 1989-09-05
•
Expires: 2007-11-30
Abstract
Abstract An upper fixed plate (3) can have an annular fixed plate (4) attached, where both are disposed at the lower end of a work arm (1) of an industrial robot. A spring-supported receiver disk (5) with an attachment ring (5a) for a gripper (2) can be supported on the upper fixed plate (3) and on the annular fixed plate (4). The upper fixed plate (3) and the annular fixed plate (4) each can have four engagement-catch recesses for ball-shaped locking elements (6). The engagement-catch recesses can be of conical shape and can have an opening angle of about 120 degrees and can have a depth of about 3 mm. In addition, the upper fixed plate (3) can be provided with two centering bores (3c) for motion-limiting pins (9). The motion-limiting pins (9) protrude into the motion-limiting bores (5c) of the spring-supported receiver disk 5. Next to the motion-limiting bores are disposed threaded bores (5b) with a threaded socket ( 7) for the ball-shaped locking element (6). The ball-shaped locking element (6) is pressed with a spring (8) into the engagement-catch recess (4b) of the lower annular fixed plate (4). The locking element (6a), illustrated on the right-hand side of the drawing of FIG. 1, is locked in an engagement-catch recess (3b) of the upper fixed plate (3).
Inventors
- 👤 Karl E. Kaufmann
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 08:29
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0208
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
171 words
A support for a manipulation tool of an industrial robot comprising a work arm; an upper fixed plate forming a plate element; an annular fixed plate forming a plate element, where the upper fixed plate and the annular plate are disposed at an end of the work arm of the robot, where the two plates are maintained at a distance from each other and where the upper fixed plate and the annular fixed plate are fixedly connected to one another; a receiver disk forming a plate element, which receiver disk is disposed between the upper fixed plate and the annular fixed plate; anti-friction means for contacting spring-support means with counter-acting springs, where the receiver disk is spring-supported by the spring-support means at the anti-friction means; locking elements where the spring-supported receiver disk is supported with locking elements on two sides via said spring-support means; engagement-catch recesses disposed on the plate elements, wherein the locking elements are engaged in engagement-catch recesses of an opposing plate element separated by the spring support means.
Claim 2
Dependent Claim
171 words
A support for a manipulation tool of an industrial robot comprising a work arm; an upper fixed plate forming a plate element; an annular fixed plate forming a plate element, where the upper fixed plate and the annular plate are disposed at an end of the work arm of the robot, where the two plates are maintained at a distance from each other and where the upper fixed plate and the annular fixed plate are fixedly connected to one another; a receiver disk forming a plate element, which receiver disk is disposed between the upper fixed plate and the annular fixed plate; anti-friction means for contacting spring-support means with counter-acting springs, where the receiver disk is spring-supported by the spring-support means at the anti-friction means; locking elements where the spring-supported receiver disk is supported with locking elements on two sides via said spring-support means; engagement-catch recesses disposed on the plate elements, wherein the locking elements are engaged in engagement-catch recesses of an opposing plate element separated by the spring support means.
Claim 3
Dependent Claim
50 words
The support for a manipulation tool of an industrial robot according to claim 1 further comprising a manipulation tool; attachment ring provided at the spring-supported receiver disk for supporting the manipulation tool, and wherein the manipulation tool protrudes through the annular fixed plate disposed remote relative to the work arm.
Claim 4
Dependent Claim
59 words
The support for a manipulation tool of an industrial robot according to claim 1 wherein every second one of the locking elements lock in engagement-catch recesses disposed at the one upper fixed plate, and where the remaining locking elements disposed in between every second one of the locking elements engage in engagement-catch recesses disposed at the annular fixed plate.
Claim 5
Dependent Claim
68 words
The support for a manipulation tool of an industrial robot according to claim 3, further comprising threaded bushings disposed in threaded boreholes provided in the spring-support receiver disk; wherein three of the locking elements are disposed on a circular arc in engagement-catch recesses; wherein the spring-support means are provided by helical compression springs; wherein the locking elements are disposed with corresponding helical compression springs in the threaded bushings.
Claim 6
Dependent Claim
66 words
The support for a manipulation tool of an industrial robot according to claim 1, further comprising at least two motion-limiting pins disposed in motion-limiting bores provided in a plate element, where the motion-limiting pins protrude from a respective opposite plate element, and wherein the diameter of the motion-limiting bores is larger by the permissible shifting path X as compared to the diameter of the motion-limiting pins.
Claim 7
Dependent Claim
29 words
The support for a manipulation tool of an industrial robot according to claim 5, wherein the shifting path X is less than the locking path Y of the recess.
Claim 8
Dependent Claim
52 words
The support for a manipulation tool of an industrial robot according to claim 1, further comprising an outer ring provided at the annular fixed plate, which outer ring in turn is provided with boreholes for screws, and where the annular fixed plate is attached to the upper fixed plate with said screws.
Claim 9
Dependent Claim
29 words
The support for a manipulation tool of an industrial robot according to claim 7, wherein the outer ring is provided with several edge recesses for a guiding of conduits.
Claim 10
Dependent Claim
24 words
The support for a manipulation tool of an industrial robot according to claim 1, wherein the upper fixed plate is provided with conduit boreholes.
Claim 11
Dependent Claim
79 words
The support for a manipulation tool of an industrial robot according to claim 1, further comprising an attachment ring provided at the spring-supported receiver disk via a central bore disposed in the annular fixed plate, where the attachment ring is provided with bores for attachment screws for a manipulation tool attachment plate and wherein the diameter of the central bore is larger by the size of the shifting path X as compared to the diameter of the attachment ring.
Claim 12
Dependent Claim
136 words
Support for a gripper, tool, or the like, in connection with an industrial robot, where the industrial robot comprises two plates at the end of the work arm of the robot, where the two plates are maintained at a distance from each other for a receiver disk which is spring-loadingly supported at anti-friction where the spring-supported receiver disk is provided with an attachment ring for the gripper and wherein the gripper protrudes through a plate disposed remote relative to the work arm, wherein the plates (3, 4) are fixedly connected to one another, wherein the spring-supported receiver disk (5) is supported with locking elements (6) on both sides via counter-acting springs (8), wherein the locking elements (6) are engaged in engagementcatch recesses (3b, 4b) of the plates (3, 4), or of the spring-supported receiver disk (5).
Claim 13
Dependent Claim
136 words
Support for a gripper, tool, or the like, in connection with an industrial robot, where the industrial robot comprises two plates at the end of the work arm of the robot, where the two plates are maintained at a distance from each other for a receiver disk which is spring-loadingly supported at anti-friction where the spring-supported receiver disk is provided with an attachment ring for the gripper and wherein the gripper protrudes through a plate disposed remote relative to the work arm, wherein the plates (3, 4) are fixedly connected to one another, wherein the spring-supported receiver disk (5) is supported with locking elements (6) on both sides via counter-acting springs (8), wherein the locking elements (6) are engaged in engagementcatch recesses (3b, 4b) of the plates (3, 4), or of the spring-supported receiver disk (5).
Claim 14
Dependent Claim
50 words
Support according to claim 11, wherein every second one of the locking elements (6a) can lock in engagement-catch recesses (3b) of the one upper fixed plate (3) and where the locking elements (6), disposed in between, and can engage in engagement-catch recesses (4b) of the other annular fixed plate (4).
Claim 15
Dependent Claim
29 words
Support according to claim 12, wherein in each case, at least three of the locking elements (6, 6a) are disposed on a circular arc in engagement-catch recesses (3b, 4b).
Claim 16
Dependent Claim
39 words
Support according to claim 13, wherein the locking elements (6, 6a) are disposed with their springs (8) in threaded bushings (7), and wherein the threaded bushings (7) are disposed in threaded boreholes (5b) of the spring-support receiver disk (5).
Claim 17
Dependent Claim
55 words
Support according to claim 11, wherein at least two motion-limiting pins (9) in motion-limiting bores (5c) of the spring-supported receiver disk (5) protrude from the plates (3, 4), and wherein the diameter of the motion-limiting bores (5c) is larger by the permissible shifting path X as compared to the diameter of the motion-limiting pins (9).
Claim 18
Dependent Claim
22 words
Support according to claim 15, wherein the shifting path X is identical, respectively smaller, than the locking path Y of the recess.
Claim 19
Dependent Claim
50 words
Support according to claim 11, wherein the annular fixed plate (4) is provided with an outer ring (4a), which outer ring in turn is provided with boreholes (4c) for screws (11), and where the annular fixed plate (4) is attached to the upper fixed plate (3) with the screws (11).
Claim 20
Dependent Claim
22 words
Support according to claim 17, wherein the outer ring (4a) is provided with several edge recesses (4d) for the guiding of conduits.
Claim 21
Dependent Claim
17 words
Support according to claim 11, wherein the upper fixed plate (3) is provided with conduit boreholes (3d).
Claim 22
Dependent Claim
74 words
Support according to claim 11, wherein the spring-supported receiver disk (5) is provided with an attachment ring (5a) via a central bore (4e) of the annular fixed plate (4), which attachment ring (5a) is provided with bores (5e) for attachment screws (12) for a gripper attachment plate (13), and wherein the diameter of the central bore (4e) is larger by the shifting path X as compared to the diameter of the attachment ring (5a).
Claim 23
Dependent Claim
210 words
A support for a manipulation tool of an industrial robot comprising a work arm; an upper fixed plate forming a plate element; an annular fixed plate forming a plate element, where the upper fixed plate and the annular plate are disposed at an end of the work arm of the robot, where the two plates are maintained at a distance from each other and where the upper fixed plate and the annular fixed plate are fixedly connected to one another; a receiver disk forming a plate element, which receiver disk is disposed between the upper fixed plate and the annular fixed plate; anti-friction means; spring-support means with counter-acting springs, where the receiver disk is spring-supported by the spring-support means at the anti-friction means; locking elements where the spring-supported receiver disk is supported with locking elements on two sides via said spring- support means; engagement-catch recesses disposed on the plate elements, wherein the locking elements are engaged in engagement-catch recesses of an opposing plate element separated by the spring support means; at least two motion-limiting pins disposed in motionlimiting bores provided in a plate element, where the motion-limiting pins protrude from a respective opposite plate element, wherein the shifting path X is less than the locking path Y of the recess.
Claim 24
Dependent Claim
210 words
A support for a manipulation tool of an industrial robot comprising a work arm; an upper fixed plate forming a plate element; an annular fixed plate forming a plate element, where the upper fixed plate and the annular plate are disposed at an end of the work arm of the robot, where the two plates are maintained at a distance from each other and where the upper fixed plate and the annular fixed plate are fixedly connected to one another; a receiver disk forming a plate element, which receiver disk is disposed between the upper fixed plate and the annular fixed plate; anti-friction means; spring-support means with counter-acting springs, where the receiver disk is spring-supported by the spring-support means at the anti-friction means; locking elements where the spring-supported receiver disk is supported with locking elements on two sides via said spring- support means; engagement-catch recesses disposed on the plate elements, wherein the locking elements are engaged in engagement-catch recesses of an opposing plate element separated by the spring support means; at least two motion-limiting pins disposed in motionlimiting bores provided in a plate element, where the motion-limiting pins protrude from a respective opposite plate element, wherein the shifting path X is less than the locking path Y of the recess.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-09-04 | 1993-03-06 | 1993-09-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-09-04 | 1997-03-06 | 1997-09-05 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-09-04 | 2001-03-06 | 2001-09-05 | $7700.00 | Window Closed / Lapsed |