Apparatus for balancing of positional tolerances

Claim 1

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support, wherein said pin is guided through tapered centering means of the movable plate and through the tapered centering means of the fixed plate allowing a lateral play for relative lateral motion of the movable plate relative to the fixed plate.

Claim 2

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support, wherein said pin is guided through tapered centering means of the movable plate and through the tapered centering means of the fixed plate allowing a lateral play for relative lateral motion of the movable plate relative to the fixed plate.

Claim 11

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate in to a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; wherein the centering element support includes a connection piece; wherein the pressure-medium bellows cylinder is attached with one cylinder end at the flange for the gripper, and with a second cylinder end at the connection piece of the centering element support; wherein the pressure medium supply system includes a pressure-medium line; and wherein a connection piece is connected to the pressure-medium line.

Claim 12

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate in to a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; wherein the centering element support includes a connection piece; wherein the pressure-medium bellows cylinder is attached with one cylinder end at the flange for the gripper, and with a second cylinder end at the connection piece of the centering element support; wherein the pressure medium supply system includes a pressure-medium line; and wherein a connection piece is connected to the pressure-medium line.

Claim 15

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support; wherein the attachment means of the movable plate is a support tube; wherein the fixed plate includes a center bore; wherein an air gap of the width of a shifting distance (x) of the movable plate is provided between the support tube and the center bore of the fixed plate as well as between a tapered centering means of the fixed plate and the pin.

Claim 16

A device for balancing of spatial and positional tolerances for a gripper comprising an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral play distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate, and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support retained by the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support; wherein the attachment means of the movable plate is a support tube; wherein the fixed plate includes a center bore; wherein an air gap of the width of a shifting distance (x) of the movable plate is provided between the support tube and the center bore of the fixed plate as well as between a tapered centering means of the fixed plate and the pin.

Claim 18

A method for balancing of spatial and positional tolerances for a robot system including the following elements: an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support attached to the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; comprising the following steps: placing the fixed plate into an operational position; generating a pressure differential with a lower pressure in the pressure-medium supply system and a higher pressure in the pressure-medium bellows cylinder for contracting the pressure-medium bellows cylinder; shifting the movable plate under small force expenditure in a direction having a component parallel to the fixed plate and reducing the distance between the movable plate and the centering element support; guiding said pin through tapered centering means of the movable plate and through the tapered centering means of the fixed plate; allowing a lateral play of the pin for a relative lateral motion of the movable plate relative to the fixed plate.

Claim 19

A method for balancing of spatial and positional tolerances for a robot system including the following elements: an end section of a work arm; a flange for attaching a gripper; a fixed plate attached to the end section of the work arm, disposed at a distance relative to the end section of the work arm, having a tapered centering means, and having an opening disposed toward the flange for attaching the gripper; a movable plate having a tapered centering means and intermediately disposed between the end section of the work arm and the fixed plate having an opening, wherein the movable plate protrudes with an attachment part for the flange passing through the opening of the fixed plate, wherein the flange is attached to the attachment part of the movable plate, wherein the attachment part is disposed with a lateral distance relative to the opening of the fixed plate for allowing lateral movement relative to the fixed plate and wherein the movable plate is guided via the tapered centering means of the fixed plate into a fixed-point position; a centering element support attached to the end section of the work arm and disposed away from the gripper as seen from the movable plate; a pin furnished with a centering taper and having a bolting attachment and attached with its bolting attachment in one of the fitted bores of the centering element support; a pressure medium supply system; a pressure-medium bellows cylinder connected to the pressure-medium supply system and disposed between the flange for the gripper and the centering element support for cushioning and moving the movable plate and the flange for the gripper relative to the fixed plate; comprising the following steps: placing the fixed plate into an operational position; generating a pressure differential with a lower pressure in the pressure-medium supply system and a higher pressure in the pressure-medium bellows cylinder for contracting the pressure-medium bellows cylinder; shifting the movable plate under small force expenditure in a direction having a component parallel to the fixed plate and reducing the distance between the movable plate and the centering element support; guiding said pin through tapered centering means of the movable plate and through the tapered centering means of the fixed plate; allowing a lateral play of the pin for a relative lateral motion of the movable plate relative to the fixed plate.