Flexible manipulator for working on workpieces, in particular motor-vehicle bodies

摘要

A flexible manipulator for working on workpieces, in particular motor-vehicle bodies, has a tool change system which makes it possible to set down and pick up tools into and out of a vertical depositing device which is functionally in direct connection with the manipulator. The tool change system has a vertically arranged stationary or rigid holding part, on which a compensating tool pick-up device is horizontally displaceably mounted against spring resistance. Arranged on the tool pick-up device are pick-up and guiding elements which cooperate with corresponding fixing elements on the workpiece. The pick-up and guiding elements are combined with a flexible weight take-up system for the tool. By virtue of the abovementioned features, the flexible manipulator is capable of setting down tools to be exchanged, not only vertically, as customary hitherto, but also horizontally. The same also applies of course to the picking-up of new tools, which can thus be "docked" in the horizontal direction onto the tool pick-up device. The necessary compensation of the inevitable repeating inaccuracies of the manipulator is ensured here by the horizontal compensating system in the form of the tool pick-up device, in conjunction with the flexible weight take-up system.