docking and fixeringssystem for a robot or similar system for docking and fixation of a pallett has continued to an approximate position

摘要

A docking and fixing system for a pallet in a robot or like system using pallets, which are moved into an approximate work position within the work envelope of the robot. A linear motor (51) is fixedly mounted to the robot frame (52) by means of an angle bar (52). An elongated bar (54) is fixedly mounted to the movable part (53) of the linear motor (51). The bar (54) is provided with docking means (not shown) and a fixing means, a stud (55), which, when the motor is activated, moves upwards into a socket (56). The socket (56) is an integral part of a stud bolt (57) which is adjustably mounted to the extruded section (24) of a pallet. During said upwards movement of the stud (55) the chamfered section (58) of the stud (55) will first interact with the lower inner edge of the socket (56) and then with the tapered section (59) of the socket (56) with the result that the pallet will be positioned in a lateral, exactly defined position. At the further movement the stud (55) will lift the pallet and press its extruded section (24) against guide rail (4), which is fixedly mounted to the frame, so that the pallet will be positioned in a vertical, exactly defined position. Docking means such as electric connectors and hydraulic and/or pneumatic couplings are also provided on said bar (54) for cooperation with corresponding docking means on the pallet.