Part transfer system that uses existing part features, and a method of using the part transfer system
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B25J-015/00
출원번호
US-0875532
(2013-05-02)
등록번호
US-9079312
(2015-07-14)
발명자
/ 주소
Preston, Christopher B.
Blake, Christine A.
Nandwani, Sunil
Agapiou, John S.
출원인 / 주소
GM Global Technology Operations LLC
대리인 / 주소
Quinn Law Group, PLLC
인용정보
피인용 횟수 :
1인용 특허 :
13
초록▼
A part transfer system includes a robotic arm, and an end effector attached to the robotic arm. The end effector includes a locating pin that is operable to engage an existing part feature of a part. The presence of the existing part feature is required for the intended use of the part, and therefor
A part transfer system includes a robotic arm, and an end effector attached to the robotic arm. The end effector includes a locating pin that is operable to engage an existing part feature of a part. The presence of the existing part feature is required for the intended use of the part, and therefore serves a function of the part other than a transfer function. The existing part feature defines a circular aperture disposed on a feature plane. The locating pin includes an engagement portion that extends along a longitudinal axis of the at least one locating pin. The engagement portion includes a diameter that is tapered along the longitudinal axis such that the engagement portion of the locating pin engages a radial inner edge of the circular aperture on the feature plane along an approximately annular contact ring disposed about a circumference of the tapered portion.
대표청구항▼
1. A part transfer system comprising: an end effector attachable to a robotic arm;wherein the end effector includes at least one locating pin operable to engage an existing part feature of a part, wherein the presence of the existing part feature is required for an intended use of the part;wherein t
1. A part transfer system comprising: an end effector attachable to a robotic arm;wherein the end effector includes at least one locating pin operable to engage an existing part feature of a part, wherein the presence of the existing part feature is required for an intended use of the part;wherein the existing part feature defines a circular aperture disposed on a feature plane; wherein the at least one locating pin includes an engagement portion that extends along a longitudinal axis of the at least one locating pin;wherein the engagement portion includes a diameter that is tapered along the longitudinal axis such that the engagement portion of the locating pin engages a radial inner edge of the circular aperture on the feature plane along an approximately annular contact ring disposed about a circumference of the tapered portion, andthe at least one locating pin includes a first locating pin, a second locating pin, and a third locating pin, with the first locating pin and the second locating pin disposed opposite the third locating in to grasp the part therebetween. 2. A part transfer system as set forth in claim 1 wherein the engagement portion of the locating pin defines one of a semi-spherical section having a diameter that changes along the longitudinal axis of the locating pin at a non-constant rate, or a conical section having a diameter that changes along the longitudinal axis of the locating pin at a constant rate. 3. A part transfer system as set forth in claim 1 wherein the locating pin includes an insertion end operable to extend through the circular aperture of the existing part feature, with the diameter of the engagement portion increasing in size as the distance from the insertion end of the locating pin increases. 4. A part transfer system as set forth in claim 1 wherein one of the first locating pin and the second locating pin is fixed in position relative to the end effector, and the other of the first locating pin and the second locating pin is moveable in at least a first direction of movement to align the respective engagement portion with the respective circular aperture. 5. A part transfer system as set forth in claim 4 wherein the third locating pin is moveable in the first direction of movement and a second direction of movement to align the respective engagement portion with the respective circular aperture, wherein the first direction of movement is perpendicular to the second direction of movement. 6. A part transfer system as set forth in claim 1 wherein the at least one locating pin is moveable relative to the end effector in a first direction of movement to align the engagement portion with the circular aperture. 7. A part transfer system as set forth in claim 6 wherein the engagement portion includes a first portion and a second portion moveable relative to each other along a first plane, wherein the first plane is disposed orthogonal to the feature plane, and perpendicular to the first direction of movement. 8. A part transfer system as set forth in claim 6 wherein the at least one locating pin is moveable relative to the end effector in a second direction of movement to align the engagement portion with the circular aperture, wherein the second direction of movement is perpendicular to the first direction of movement. 9. A part transfer system as set forth in claim 8 wherein the engagement portion includes a first portion, a second portion, a third portion, and a fourth portion moveable relative to each other, with the first portion and the second portion moveable along a first plane relative to the third portion and the fourth portion, and the first portion and the third portion moveable along a second plane relative to the second portion and the fourth portion, wherein the first plane and the second plane are each disposed orthogonal to the feature plane, the first plane is disposed perpendicular to the first direction of movement, and the second plane is disposed perpendicular to the second direction of movement. 10. A part transfer system as set forth in claim 1 wherein the at least one locating pin includes an insertion end operable to pass through the circular aperture, and a clamping mechanism disposed near the insertion end of the at least one locating pin and having a grasping feature operable to engage a backside of the part to clamp the part between the grasping feature and the engagement portion. 11. A method of grasping a part with a part transfer system, the method comprising: providing an end effector for a robotic arm that includes at least one locating pin having a tapered engagement portion;moving the tapered engagement portion of the locating pin into abutting engagement with an inner radial edge of a circular aperture of an existing part feature of the part, wherein the presence of the existing part feature of the part is required for an intended use of the part, and wherein the engagement portion contacts the inner radial edge of the circular aperture on a feature plane along an approximately annular contact ring disposed about a circumference of the tapered engagement portion;wherein the at least one locating in of the end effector includes a first locating pin, a second locating pin, and a third locating pin, each operable to engage respective existing part features having respective circular apertures, andwherein moving the tapered engagement portion of the locating pin into abutting engagement with the inner radial edge of the circular aperture of the existing part feature is further defined as moving the tapered engagement portion of the first locating in into abutting engagement with the respective inner radial edge of the respective circular aperture. 12. A method as set forth in claim 11 further comprising moving the second locating pin in a first direction of movement to concentrically align the second locating pin with the respective circular aperture of the respective existing part feature. 13. A method as set forth in claim 12 further comprising moving the third locating pin in the first direction of movement and in a second direction of movement to concentrically align the third locating pin with the respective circular aperture of the respective existing part feature. 14. A method as set forth in claim 13 wherein moving the second locating pin in the first direction of movement, and the third locating pin in the first direction of movement and the second direction of movement includes moving the locating pin relative to the end effector and relative to the first locating pin. 15. A method as set forth in claim 13 wherein the tapered engagement portions of each of the second locating pin and the third locating pin include segmental portions that move relative to each other to adjust the position of the tapered engagement portion relative to the inner radial edge of the circular aperture to align the tapered engagement portion with the circular aperture, and wherein moving the second locating pin in the first direction of movement, and the third locating pin in the first direction of movement and the second direction of movement includes moving the segmental portions of the second locating pin relative to each other and moving the segmental portions of the third locating pin relative to each other. 16. A method as set forth in claim 11 wherein the locating pin includes a clamping mechanism disposed adjacent an insertion end of the locating pin, and wherein the method further comprises inserting the insertion end of the locating pin through the circular aperture, and actuating the clamping mechanism to grasp a back side of the part to clamp the part between the clamping mechanism and the engagement portion of the locating pin. 17. A method as set forth in claim 11 wherein moving the tapered engagement portion of the locating pin into abutting engagement with the inner radial edge of the circular aperture of the existing part feature includes moving the tapered engagement portion along a longitudinal axis of the locating pin in a third direction of movement. 18. A method as set forth in claim 11 wherein moving the tapered engagement portion of the locating pin into abutting engagement with the inner radial edge of the circular aperture of the existing part feature includes moving an insertion end of the locating pin through the circular aperture without the locating pin contacting an interior surface of the circular aperture.
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이 특허에 인용된 특허 (13)
Cipolla Thomas M. (Ballston Lake NY), Adaptive gripping device.
Stone, Paul R.; Clark, Gregory Louis; Munk, Clayton Lynn; Mendez, Mario A., Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same.
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