Tool changer and tool change system

Patent metadata

Field	Value
Publication number	US-11207785-B2
Application number	US-202016787646-A
Country	US
Kind code	B2
Filing date	Feb 11, 2020
Priority date	Sep 16, 2019
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

A tool changer is included in a manipulator of a robot and selectively fastens to a tool by a magnetic force. The tool changer may include a housing; an inner core embedded in the housing; a coil wound around the inner core, wherein a current is applied to the coil; a pair of connecting cores connected to both ends of the inner core, protruding from the housing to the tool, and inserted into a connecting groove of the tool; a switch configured to regulate the current applied to the coil; and a controller configured to open or close the switch according to a set frequency.

First claim

What is claimed is:

1. A tool changer for a manipulator of a robot, the tool changer comprising:
a housing;
an inner core located in the housing, the inner core having a first end and a second end;
a coil wound around the inner core;
a pair of extension members connected to the first and second ends of the inner core, each extension member protruding from the housing toward a tool to be insertable into a corresponding connecting groove of the tool, wherein the pair of extension members and the inner core are provided as a monolithic body;
a power source to supply a current to the coil;
a switch configured to regulate the current supplied to the coil; and
a controller configured to open or close the switch according to a predetermined frequency.

2. The tool changer according to claim 1 , wherein the pair of extension members and the inner core are formed of a magnetizable material.

3. The tool changer according to claim 2 , wherein a cross-sectional area of each extension member is configured to be smaller than an inner cross-sectional area of the corresponding connecting groove.

4. The tool changer according to claim 2 , wherein each extension member protrudes in a horizontal direction from the housing or protrudes at a non-zero angle such that, as the extension member extends away from the housing, a height thereof increases.

5. The tool changer according to claim 2 , wherein each extension member comprises:
an inner part disposed in the housing, the inner part having a first length; and
an outer part extending from the inner part outside of the housing, the outer part having a second length that is longer than the first length.

6. The tool changer according to claim 1 , wherein the predetermined frequency is adjustable to correspond to a resonance frequency of the tool.

7. A tool changer for a manipulator of a robot, the tool changer comprising:
a housing;

an inner core located in the housing, the inner core having a first end and a second end;
a coil wound around the inner core;
a pair of extension members connected to the first and second ends of the inner core,
each extension member protruding from the housing toward a tool to be insertable into a corresponding connecting groove of the tool, wherein the pair of extension members is a pair of magnets;
a power source to supply a current to the coil;
a switch configured to regulate the current supplied to the coil; and
a controller configured to open or close the switch according to a predetermined frequency.

8. The tool changer according to claim 7 , wherein an S pole of a first magnet of the pair of magnets is in contact with the inner core and an N pole of the first magnet protrudes outside of the housing, and
wherein an N pole of a second magnet of the pair of magnets is in contact with the inner core and an S pole of the second magnet protrudes outside of the housing.

9. The tool changer according to claim 7 , wherein a cross-sectional area of each magnet is configured to be smaller than an inner cross-sectional area of the corresponding connecting groove.

10. The tool changer according to claim 7 , wherein each magnet protrudes in a horizontal direction from the housing or protrudes at a non-zero angle such that, as the extension member extends away from the housing, a height thereof increases.

11. The tool changer according to claim 7 , wherein each magnet comprises:
an inner part disposed in the housing, the inner part having a first length; and
an outer part extending from the inner part outside of the housing, the outer part having a second length that is longer than the first length.

12. A tool change system, comprising:
a tool, the tool including:
a tool body; and
a coupler connected to the tool body, the coupler including a pair of connecting grooves; and

a tool changer for a manipulator of a robot, the tool changer including:
a housing;
an inner core located in the housing, the inner core having a first end and

a second end;
a coil wound around the inner core;
a pair of extension members connected to the first and second ends of the inner core, each extension member protruding from the housing, the pair of extension members being configured to be received in the pair of connecting grooves in the coupler, wherein the pair of extension members is a pair of magnets;
a power source to supply a current to the coil;
a switch configured to regulate the current supplied to the coil; and
a controller configured to open or close the switch according to a predetermined frequency.

13. The tool change system according to claim 12 , wherein the coupler includes a magnetic body on which magnetic force is exerted to connect the coupler to the tool changer, the magnetic body being located between the tool body and the pair of connecting grooves.

14. The tool change system according to claim 12 , wherein a cross-sectional area of each extension member is configured to be smaller than an inner cross-sectional area of the corresponding connecting groove.

15. The tool change system according to claim 12 , wherein each extension member protrudes in a horizontal direction from the housing or protrudes at a non-zero angle such that, as the extension member extends away from the housing, a height thereof increases.

16. The tool change system according to claim 12 , wherein each extension member comprises:
an inner part disposed in the housing, the inner part having a first length; and
an outer part extending from the inner part outside of the housing, the outer part having a second length that is longer than the first length.

17. The tool change system according to claim 12 , wherein an S pole of a first magnet of the pair of magnets is in contact with the inner core and an N pole of the first magnet protrudes outside of the housing, and
wherein an N pole of a second magnet of the pair of magnets is in contact with the inner core and an S pole of the second magnet protrudes outside of the housing.

18. The tool change system according to claim 12 , wherein the predetermined frequency is adjustable to correspond to a resonance frequency of the tool.

Assignees

• Lg Electronics Inc

Inventors

• Son Changwoo

Classifications

• B23B31/28

  using electric or magnetic means in the chuck · CPC title

• B25J15/0441 Primary

  having vacuum or magnetic means · CPC title

• B25J19/0058

  Means for cleaning manipulators, e.g. dust removing means · CPC title