Double tool holder and change-over system carried by industrial robot, includes tool holder frame with axis of rotation perpendicular to robot arm axis

摘要

A tool (14, 17) holder (9) has an axis of rotation (8) perpendicular to the robot arm axis (1). The holder is an inner frame (9). The tool (14, 17) rotation axes (6, 10) are each parallel with the rotation axis (8) of the frame, which rotates on bearings in an outer frame (4). The connection between frames is detachable, being interlocking or held by interference-fitting. The axes (6, 10) include tool-holding capability. A drive is connected to and rotates the inner frame (9) within the outer frame (4). A tool (14, 17) holder (9) has an axis of rotation (8) perpendicular to the robot arm axis (1). The holder is an inner frame (9). The tool (14, 17) rotation axes (6, 10) are each parallel with the rotation axis (8) of the frame, which rotates on bearings in an outer frame (4). The connection between frames is detachable, being interlocking or held by interference-fitting. The axes (6, 10) include tool-holding capability. A drive is connected to and rotates the inner frame (9) within the outer frame (4). On frame rotation through an angle, the axes (6, 10) are rotated through the same angle, but in the reverse direction. For tool-changing, the frame (4) is rotated through 180[deg].