FIELD OF THE INVENTION

The present invention concerns a device for attaching and connecting a tool to an automatic operating device, such as a robotic anthropomorphic arm, which can find application, for example but without limitation to generality, in those industrial and production sectors in which, on the one hand, a high level of automation and, on the other hand, a high production flexibility are required.

BACKGROUND OF THE INVENTION

Anthropomorphic robotic arms typically used in production and industrial contexts are known in which a tool for carrying out a machining is attached to one end of the robotic anthropomorphic arm by means of a connection device.

Some connection devices of known type allow a plurality of different tools to be attached to a robotic anthropomorphic arm, and to perform the tool change automatically.

Such connection devices usually comprise a first part attached to one end of the robotic anthropomorphic arm and a second part to which a respective tool is attached.

The first and second parts of the connection device are suitable to be connected and disconnected from each other, even automatically.

In this context, a first connection device is known which provides that the tool is suitably designed and made to be stably attached to said second part.

The use of this first type of connection device turns out to be particularly expensive and the removal of the tool from said second part is very laborious and requires a specialized operator to be performed. Therefore, this first type of connection device is not suitable for use in industrial or production areas that require high production flexibility and a wide range of operations that can be performed by means of a single robotic anthropomorphic arm.

Or, a second known type of connection device provides that said second part comprises fastening means for holding tools of the "standard" type, i.e. easily commercially available.

Typically, said fastening means are metal, or plastic, clamps that bind the tool to the aforesaid second part of the connection device. Although this second known type of connection device is simple and allows the use of "standard" tools available on the market, it is unsafe and precise and even dangerous. In fact, in this case, the utilities necessary for the correct operation of the tool are supplied to it through cables or flexible conduits linked externally to the robotic anthropomorphic arm and to the tool. In this case, these cables or flexible conduits are bulky and during the use of the robotic anthropomorphic arm can be an obstacle in the work area of the tool for the correct execution of the machining by the latter.

There is therefore a need to perfect a device for supporting and connecting a tool to an automatic operating device, which can overcome at least one of the drawbacks of the prior art.

To do this it is necessary to solve the technical problem of providing a safe and stable support to a tool of any type, even standard and easily available on the market. An object of the present invention is to realize a device for attaching and connecting a tool to an automatic operating device, for example a robotic anthropomorphic arm, which is safe during use and which does not interfere with the working area of the tool.

Another object of the present invention is to realize a device for attaching and connecting a tool to an automatic operating device, for example a robotic anthropomorphic arm, which allows a precise positioning of the tool, even if the latter is of standard type.

Another object of the present invention is to realize a device for attaching and connecting a tool to an automatic operating device, which is simple and economical.

Another object of the present invention is to realize a device for attaching and connecting a tool to an automatic operating device, which can be assembled easily and quickly.

Another object of the present invention is to realize a device for attaching and connecting a tool to an automatic operating device, which allows to replace the tool easily and quickly.

The Applicant has devised, tested, and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claims. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.

In accordance with the above purposes, and to resolve the technical problem disclosed above in a new and original way, also achieving considerable advantages compared to the state of the prior art, a device according to the present invention for attaching and connecting a tool to an automatic operating device comprises a holding member having a holding seating configured to at least partially envelop said tool, an attachment portion configured to be attached to said automatic operating device and connection means configured to connect said tool to external feed means.

Since the holding seating envelops at least a part of the tool, the latter can be attached stably and securely to the automatic operating device even if it is of the standard type and not specifically made to be connected to the automatic operating device. This makes it possible to significantly automate workstations where high operational flexibility is required in an economical way and with low initial investments.

In accordance with another aspect of the present invention, the aforesaid holding seating has a shape that reverse matches an external portion of said tool to be held.

In accordance with another aspect of the present invention, the aforesaid holding member comprises two or more half shells which define the aforesaid holding seating between them and each of which comprises fastening means so as to be fastened to each other.

In accordance with another aspect of the present invention, the aforesaid connection means comprise at least one of either: an electric cable and/or a conduit for the passage of a fluid, and they are at least partly contained in a containing body which is integral with the aforesaid holding member.

In accordance with another aspect of the present invention, the aforesaid containing body is substantially tubular in shape and is made in a single body with at least one of the aforesaid half shells.

In accordance with another aspect of the present invention, the aforesaid containing body comprises a tubular cavity made inside at least one of the aforesaid half shells.

In accordance with another aspect of the present invention, said attachment portion develops in a single body from at least one of the aforesaid half shells. In accordance with a further aspect of the present invention, a work unit in accordance with the present invention comprises:

- an automatic operating device comprising a robotic anthropomorphic arm and a connection device having a first part attached to said robotic anthropomorphic arm and configured to be selectively and reversibly connected with a second part; - a tool for carrying out a machining;

- a device for attaching and connecting said tool to said automatic operating device and wherein said attachment portion is attached to said second part.

In accordance with a further aspect of the present invention, a method to attach and connect a tool to an automatic operating device comprises the following steps: - making available a device comprising a holding member having a holding seating configured to at least partially envelop said tool, an attachment portion configured to be attached, directly or indirectly, said holding member to said automatic operating device and connection means which are integral with said holding member and are configured to be connected to said tool and to external feed means;

- disposing the aforesaid tool inside said holding seating;

- attaching said attachment portion to said automatic operating device;

- connecting said connection means to said tool and to said external feed means.

In accordance with another aspect of the present invention, the aforesaid automatic operating device comprises a robotic anthropomorphic arm and a connection device having a first part attached to the aforesaid robotic anthropomorphic arm and configured to be selectively and reversibly connected with a second part, and the method according to the present invention also envisages attaching the aforesaid attachment portion to the aforesaid second part. DESCRIPTION OF THE DRAWINGS

These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein: - fig. 1 is an axonometric view of a device for ataching and connecting a tool to an automatic operating device, according to the present invention, associated with an automatic operating device;

- fig. 2 is an exploded axonometric view of fig. 1.

We must clarify that in the present description the phraseology and terminology used, as well as the figures in the atached drawings also as described, have the sole function of beter illustrating and explaining the present invention, their function being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims.

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications. DESCRIPTION OF SOME EMBODIMENTS OF THE PRESENT INVENTION

With reference to figure 1, a device 10 for ataching and connecting a tool 11 to an automatic operating device 12, according to the present invention, finds application, for example but without limitation to generality, in those industrial and production sectors in which both a high level of automation and a high production flexibility are required.

Preferably, the tool 11 , to be atached and connected by said device 10, is of the standard type and easily available on the market, i.e. it is not specifically made to be attached to a specific support.

By way of example, said tool 11 may be configured to perform one or more of the following operations: grinding, drilling, sanding, welding, cleaning, assembling objects or other.

Furthermore, in the example provided herein, the automatic operating device 12 comprises a robotic anthropomorphic arm 13 and a connection device 14, of per se known type.

In particular, the connection device 14 comprises a first part 15 and a second part 16 configured to be selectively and reversibly connected to each other.

Said first part 15 is atached to one end of the robotic anthropomorphic arm 13 while said second part 16 comprises a plurality of fastening elements 17 (fig. 2) such as, for example, holes, slots, etc. Feed means 18 configured to provide the tool 11 with the utilities it needs for correct operation are associated to said robotic anthropomorphic arm 13 and to said connection device 14.

Said utilities can be electricity, compressed air, water, oil or any other pressurized and non-pressurized fluid, sand, melting material for welding and others.

In the example provided herein the feed means 18 also comprise a plurality of outlet connectors 19, disposed on the second part 16 of the connection device 14.

In accordance with an aspect of the present invention, the device 10 comprises a holding member 20 configured to hold the tool 11 and to be attached to the automatic operating device 12.

In the example provided herein, the holding member 20 comprises two half shells 21, 22 configured to be fastened to each other and define a holding seating 23 for the tool 11 between them. In particular, the inner surface of each half shell 21, 22 delimits a portion of the holding seating 23.

The holding seating 23 is configured to envelop an external portion of the tool 11 and has a shape that reverse matches the shape of the portion of the tool 11 to be enveloped.

In the example provided herein, the holding seating 23 (fig. 2) envelops the handle of the tool 11 and also comprises an opening 24 from which the operating portion of the tool emerges, which, in this case, is a grinder.

Preferably, the half shells 21, 22 are made, in plastic or metal, by 3D printing so as to be able to define a holding seating 23 also having a complex shape and suitable for following and adhering without play to the surface of the external portion of the tool 11 to be held.

By doing so, the holding seating 23 can perfectly envelop part of the tool 11 which can be stably and securely attached to the automatic operating device 12, even if it is of the standard type and not specifically made to be attached and connected to the automatic operating device 12. This makes it possible to significantly automate, with limited initial investment, workstations where high operational flexibility is required, i.e. those workstations where machining is typically carried out manually by a specialized operator.

Furthermore, each half shell 21, 22 comprises fastening means 25 configured to be stably and reversibly fastened with the other half shell 21, 22.

In the example provided herein, the fastening means 25 of each half shell 21, 22 comprise three fastening portions 26 extending from the respective half shell 21, 22 in conjugate positions so as to overlap two by two. Each fastening portion 26 comprises a through hole 27 and the fastening means 25 also comprise fastening elements (not depicted), such as screws, bolts, or other, configured to be inserted into the through holes 27 of two fastening portions 26 which are overlapped to stably fix the two half shells 21, 22 together.

This makes it possible to hold the tool 11 in the holding seating 23 in a safe, stable manner and limiting the play whereby even the movement of the tool 11 by the automatic operating device 12 is precise and accurate.

Furthermore, the fastening means 25 also allow the quick replacement of the tool 11 present in the holding seating 23, without requiring laborious repositioning operations calibrating the position thereof.

It is clear that in other embodiments the fastening means 25 can be of any other suitable type, such as, for example, interlocking, magnetic, mechanical and others.

The holding member 20 further comprises an attachment portion 30 configured to be attached to the automatic operating device 12.

In the example provided herein, the attachment portion 30 is substantially discoidal in shape and develops in a single body from one of the two half shells 21, 22 and is configured to be attached to the second part 16 of the connection device 14.

Specifically, the attachment portion 30 is discoidal in shape and comprises a substantially planar surface on which a plurality of holes 32 disposed in a position conjugated with that of the fastening means 17 of the connection device 14 are made.

The device 10 also comprises attaching elements (not depicted) such as screws, bolts, or others, each of which is configured to be inserted into a hole 32 of the attachment portion 30 so as to cooperate with the fastening elements 17 of the second part 16 of the connection device 14 and connect the latter with the attachment portion 30 of the holding member 20.

However, in other embodiments not depicted, the attachment portion 30 may be configured to be attached directly to the robotic anthropomorphic arm 13 without using the connection device 14.

The holding member 20 also comprises connection means 35 (fig. 1) configured to connect, on the one hand, to the outlet connectors 19 of the feed means 18 and, on the other hand, with the tool 11. The connection means 35 may comprise electrical cables, and/or one or more conduits to allow the passage of a fluid such as, for example, water or pressurized air, depending on the specific tool 11 to be served.

Furthermore, the holding member 20 also comprises a containing body 36 configured to contain therein at least part of the connection means 35. Preferably the containing body 36 is rigid and develops in a single body from one of the two half shells 21, 22.

For example, the containing body 36 may be tubular in shape and the connection means 35 may be disposed therein.

In further embodiments not depicted in the drawings, the containing body 36 may essentially comprise a cavity, even passing-through, for example of tubular shape, obtained inside one of the two half shells 21, 22.

The containing member 36 advantageously makes it possible to attach the connection means 25 to the holding member so as to prevent them from being an obstacle and obstruct the movement of the tool 11 and of the robotic anthropomorphic arm 13.

The connection means 35 also comprise first connection members 37 which protrude from the containing body 36 in the vicinity of the outlet connectors 19 of the feed means 18 and which are configured to connect therewith.

Furthermore, the connection means 35 also comprise second connection members 39 which protrude from the containing body 36 and which are configured to connect with the tool 11.

This makes it possible to avoid the presence of electrical cables or mobile conduits hanging precariously from the tool and/or the automatic operating device 12, which could hinder the movement of the tool 11 and the correct execution of the machining by the latter.

The present invention also refers to a work unit 40 (fig. 1) comprising the automatic operating device 12, the device 10 just described, and a tool 11 attached and connected to the automatic operating device 12 by said device 10. The operation of the device 10 described so far, which corresponds to the method according to the present invention comprises the following steps.

To attach and connect the tool 11 to the automatic operating device 12 the operator positions the tool 11 inside the holding seating 23. For example, the operator may dispose the tool 11 within a first half shell 21 and, subsequently, may position a second half shell 22 on the first half shell 21 so as to envelop an external portion of the tool 11.

Then, by means of the fastening means 25 the operator fastens the two half shells 21, 22 together to hold the tool 11 in the fastening seating 23. Subsequently, the user positions the attachment portion 30 of the holding member 20 against the second part 16 of the connection device 14 and connects the latter together.

Finally, the user connects the first connection members 37 of the connection means 35 to the outlet connectors 19 of the feed means 18 and the second connection members 39 of the connection means 35 to the tool 11. It is clear that modifications and/or additions of parts or phases can be made to the operating machine 10 and to the method described heretofore, without leaving the field of the present invention as defined by the claims.

It is also clear that, although the present invention has been described with reference to some specific examples, a person skilled in the art will be able to realize other equivalent forms of device and method for attaching and connecting a tool to an automatic operating device, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection defined by the claims.