[특허]Robotic tool change mechanism

[미국특허] Robotic tool change mechanism 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B23Q-003/155
출원번호	US-0608657 (1990-11-02)
발명자 / 주소	Voellmer George M. (Takoma Park MD)
출원인 / 주소	The United States of America as represented by the Administrator of the National Aeronautics and Space Administration (Washington DC 06)
인용정보	피인용 횟수 : 37 인용 특허 : 15

초록 ▼

An assembly of three major components including a wrist interface plate which is secured to the wrist joint of a robotic arm, a tool interface plate which is secured to each tool intended for use by the robotic arm, and a tool holster for each tool attached to the interface plate. The wrist interface plate and a selected tool interface plate are mutually connectable together through an opening or recess in the upper face of the interface plate by means of a notched tongue protruding from the front face of the wrist interface plate which engages a pair of spring-biased rotatable notched wheels located within the body of the tool interface plate. The tool holster captures and locks onto the tool interface plate by means of a pair of actuation claws including a locking tab and an unlocking wedge which operate respective actuation bosses on each of the notched wheels in response to a forward and backward motion of the tool interface plate as a result of motion of the robotic arm to either park the tool or use the tool.

대표청구항 ▼

Tool changer apparatus for a robotic system, comprising: first interface means attachable to a robotic arm; second interface means attachable to a tool to be used by the robotic arm; stowage means, including actuation means, for receiving and holding said second interface means when the respective tool is not in use; said first and second interface means further including means for mutually engaging each other in response to movement from and to said stowage means, said means for engaging each other comprising a member including at least one notch therein extending from one of said first and second interface means, and a recess and notch engaging member in the other of said first and second interface means, said notch engaging member being movable in and out of said at least one notch in response to operation by said actuation means of said stowage means; said member including at least one notch comprises a tongue extending from said first interface means and wherein said recess and notch engaging means are located in said second interface means; said first interface means comprises a wrist interface plate attachable to an outer end portion of the robotic arm and said second interface means comprises a tool interface plate fastened to said tool; said stowage means comprises a holster in the form of a yoke member having bifurcated outwardly extending arms for engaging said tool interface plate, and said notch engaging means comprises a wheel rotatable in and out of said at least one notch of said tongue.

이 특허에 인용된 특허 (15) 인용/피인용 타임라인 분석

McCormick Peter E. (Dallas TX) Edwards Rick C. (Carrollton TX) Autry ; Jr. Walter D. (Dallas TX) Culbertson Timothy D. (Carrollton TX) Goch Jerome F. (Dallas TX) Linder Marc S. (Garland TX), Adapter with modular components for a robot end-of-arm interchangeable tooling system.
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Ferrero Franco (Moncalieri ITX) Garau Enrico (Turin ITX), Device for effecting automatic exchange of measuring tools in a measuring robot or machine.
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Palmr Lennart (Rinkabyholmsvgen 15 394 77 Kalmar SEX), Device for exchangeable attachment of tools on an industrial robot.
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Wortmann Johannes (Georgsmarienhtte DEX), Method of operating industrial robots, and industrial robot for carrying out the method.
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Hutchinson James (Doylestown PA) Hoffman Brian (Somerville NJ) Pollack Steven (Washington Crossing PA), Novel automatic tool changer.
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Zuccaro Dante C. (Warren MI) McCurdy Frederick A. (Royal Oak MI), Quick disconnect device.
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Bennett David M. (Seattle WA), Quick release tool holder for robots.
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Nicholson John R. (Oak Ridge TN), Remote tong/tool latch and storage bracket for an advanced servo-manipulator.
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Dunn Jimmy L. (Hurst TX) Mayo George L. (Fort Worth TX) Romeo Frank C. (Fort Worth TX), Robot tool changer.
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Goumas Peter G. (108 Carmichael Ct. Cary NC 27511) Hendricks Quentin J. (214 Lynnwood Dr. Knightdale NC 27545) Trull Michael W. (102 Dundalk Way Cary NC 27511), Robot tool changing apparatus.
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Hennekes Daniel M. (Morrow OH) Kolde Richard A. (Ft. Thomas KY) Suica David E. (Lebanon OH), Robot toolchanger system.
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Silvers ; Jr. Ralph H. (Arlington VA), Tool changer for manipulator arm.
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Tella Richard P. (Sunnyvale CA) Lerner Stuart D. (Evanston IL), Tool coupling apparatus and method.
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Truchet Gaston (Faverges FRX), Tool-gripping device for remote manipulators, robots or like assemblies.
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Bancon Georges R. (Vandoeuvre FRX), Tool-holder for industrial robot.
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이 특허를 인용한 특허 (37) 인용/피인용 타임라인 분석

Castro, Michael Salvatore; Karcsmar, Joseph; Flaherty, R. Maxwell; Flaherty, J. Christopher, Articulating robotic probes.
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Goto, Yoshinobu; Tanaka, Toshio, Attaching and detaching device and robot.
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Genov ; deceased Genco ; Botev Roumen G. ; Todorov Alexander D., Automated opening and closing of ultra clean storage containers.
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Rizk, Nabil Michael, Automated tool change assembly for robotic arm.
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Crorey David J. (Utica MI) Blatt Leland D. (21 Carrington Pl. Grosse Pointe Farms MI 48236), Automatic tool changer.
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Baulier, Dominic; Petrescu, Mihaela; Stein, Thomas; Klapacz, Justyna, Automotive vehicle framing system.
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Matsumoto, Ryosuke, Cam for tool changer.
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Rizk, Nabil Michael; Campagna, Frank F.; Nicely, Aaron P.; Vasalani, III, Joseph J., Compliant tool holder.
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Ishida Hirofumi,JPX, Cup-type plating method and cleaning apparatus used therefor.
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Dunning Zenna J. ; Gabriel Mark F. ; Shofner James A., End effector storage station.
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Matsumoto, Ryosuke; Kikuchi, Hiroki, Engaging member for tool changer.
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Matsumoto, Ryosuke; Omote, Nobuhiro; Tsurimoto, Kenji, Engaging member for tool changer.
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Oyola, Arnold; Zubiate, Brett; Whipple, Dale; Stand, Joseph A.; Didomenico, Robert; Kennefick, William H.; Flaherty, J. Christopher, Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures.
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Zubiate, Brett; Oyola, Arnold; Whipple, Dale; Stand, Joseph A.; Didomenico, Robert; Kennefick, William H.; Flaherty, J. Christopher, Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures.
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Stand, Joseph A.; Didomenico, Robert A.; Zubiate, Brett; Darisse, Ian J.; Flaherty, J. Christopher, Highly articulated robotic probes and methods of production and use of such probes.
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Stand, Joseph A.; Didomenico, Robert A.; Zubiate, Brett; Darisse, Ian J.; Flaherty, J. Christopher, Highly articulated robotic probes and methods of production and use of such probes.
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Darisse, Ian J.; Oyola, Arnold E.; Stand, Joseph A.; DiDomenico, Robert A.; Straface, Samuel F.; Flaherty, J. Christopher, Introduction devices for highly articulated robotic probes and methods of production and use of such probes.
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Prust,Dirk; Haninger,Rudolf; Winkler,Hans Henning, Machine tool.
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Prust,Dirk; Winkler,Hans Henning; Haninger,Rudolf, Machine tool.
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McCormick Peter ; Beall Dan, Manual quick change tool changer.
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Hajdukiewicz Peter,GBX, Method and apparatus for changing operating modules on a coordinate positioning machine.
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Litscher, Eric; Heller, Gerald; Macari, Daniel; McCall, Charles; Rioux, Eric; Searle, Gary; Stephen, Arthur, Multi-fluid delivery system.
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Dellach, Jeffery J.; Dellach, Kenneth P.; van Zile, III, Donald; Brohl, III, Henry J.; Gloden, Michael L., Quick disconnect tooling apparatus.
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Johnston, Gabriel; Calef, Tom; Darisse, Ian; Zubiate, Brett; Flaherty, R. Maxwell; Flaherty, J. Christopher; Lewis, Reynaldo; Rienzie, Adam; Runyon, Justin S.; Halloway, Jr., Anthony Ray; Malaquais, Corey Anthony, Robotic system including a cable interface assembly.
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Braam Bernardus Carolus,NLX ; Hopman Jan,NLX, Robotically drivable interface mechanism.
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Norton, Daniel Allen, Rotating coupling for robotic tool changer with one-way clutch and dual-button handle mechanism.
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Taniguchi, Yosuke; Omote, Nobuhiro; Matsumoto, Ryosuke, Signal transfer module for tool changer.
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Anderson, Robert; Johnston, Gabriel; Darisse, Ian J.; Stand, Joseph A.; Bettencourt, Luis; Frangolis, Todd; Oyola, Arnold E.; Flaherty, J. Christopher, Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof.
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Oyola, Arnold E.; Anderson, Robert; Johnston, Gabriel; Darisse, Ian J.; Stand, Joseph A.; Bettencourt, Luis; Frangolis, Todd; Flaherty, J. Christopher, Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof.
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Prasaad Balakrishnan Kurup ; James H. Snape, Stud welding tool changer.
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Oyola, Arnold; Stand, Joseph; Gilmartin, Kevin; Darisse, Ian; Didomenico, Robert; Flaherty, J. Christopher, Surgical positioning and support system.
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Castro, Michael Salvatore; DeGeorge, Christopher P.; Flaherty, J. Christopher; Flaherty, R. Maxwell; Oyola, Arnold; Stand, III, Joseph A.; Straface, Samuel F., Surgical tool positioning system.
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Sartorio Franco,ITX, System for producing bent sheet-metal articles and components of the system.
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Park, Byung Suk; Lee, Jong Kwang; Lee, Hyo Jik; Hong, Dong Hee; Yoon, Ji Sup, Telescopic servomanipulator coupling/decoupling apparatus.
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Annis, Clifford C.; Jacobson, Jr., Norman A., Tool changer.
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Dettman Mark Prentiss ; Harris Michael John, Tool storage and retrieval system.
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Dilts, Timothy, Tool storage holster.
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[미국특허] Robotic tool change mechanism 원문보기