| 摘要 |
A docking and locking system for a pallet in a robot system using pallets which are moved into an approximate work position within the work envelope of the robot. A linear motor is fixedly mounted to the robot frame and positions an elongated bar which carries a stud which is moved upwards into a socket by the bar motion. The socket is an integral part of a stud bolt which is adjustably mounted to the extruded section of a pallet. During the upwards movement of the stud, the chamfered section of the stud first interacts with the lower inner edge of the socket and then with the tapered section of the socket, so that the pallet is positioned in a horizontal, exactly defined position. Upon further movement the stud lifts the pallet and presses its extruded section against the guide rail, which is fixedly mounted to the frame, so that the pallet is positioned in a vertical, exactly defined position and simultaneously further docking apparatus, such as electric connectors and hydraulic and/or pneumatic couplings, located on the bar cooperate with corresponding docking apparatus on the pallet. |
