IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
|
| 국제특허분류(IPC7판) |
|
| 출원번호 |
US-0389509
(2010-08-10)
|
| 등록번호 |
US-10076844
(2018-09-18)
|
| 국제출원번호 |
PCT/US2010/045059
(2010-08-10)
|
| §371/§102 date |
20120424
(20120424)
|
| 국제공개번호 |
WO2011/019742
(2011-02-17)
|
|
발명자
/ 주소 |
|
| 출원인 / 주소 |
|
| 대리인 / 주소 |
|
| 인용정보 |
피인용 횟수 :
0 인용 특허 :
47 |
초록
▼
An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection th
An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.
대표청구항
▼
1. An assembly for automatically connecting an end effector to a robotic arm comprising: a first joint member comprising a locking ring, and a connection plate; anda second joint member comprising a cylindrical body, a locking plate, a locking member, and a locking collar, said locking collar being
1. An assembly for automatically connecting an end effector to a robotic arm comprising: a first joint member comprising a locking ring, and a connection plate; anda second joint member comprising a cylindrical body, a locking plate, a locking member, and a locking collar, said locking collar being coaxially aligned with and slidably coupled to said cylindrical body, a locking collar carrier plate including said locking member extending axially therefrom, said second joint member including a spring providing axial force on said locking collar,such that said locking plate of said second joint member engages said locking ring of said first joint member, said locking plate and said locking ring having at least one intervening circumferentially spaced tab engageable in keyed relationship, said tab including an engagement hole extending axially therethrough,such that axially displacing said first joint member into said second joint member positions said first joint member locking ring inside said second joint member locking plate,such that a counter rotation between said first and second joint members slides said locking ring tab of said first joint member under said locking plate tab of said second joint member, aligning said engagement holes causing said spring force on said locking collar to push said locking member through said aligned engagement holes of said locking plate tab and said locking ring tab to connect said first joint member to said second joint member. 2. The assembly of claim 1, further including a follower ring, said follower ring having a tab positioned between said locking plate and said locking collar carrier plate such that said follower ring is preventing movement of said locking collar by preventing said locking member from entering said engagement holes, said follower ring tab further engaging said locking ring to prevent rotation of said locking ring past an alignment position, such that said locking ring aligns with said locking plate of said second joint member. 3. The assembly of claim 1, wherein said locking ring and said locking plate further including a plurality of tabs engageable in keyed relationship, such that a key tab of said locking ring uniquely engages with an opening formed between two tabs of said lock plate providing only one engagement orientation of said locking plate with said locking ring. 4. The assembly of claim 1, further comprising: a gear motor, said gear motor housed in said second joint member;a self aligning shaft; andwherein said self aligning shaft transfers mechanical power from said gear motor of said second joint member. 5. The assembly of claim 4, wherein said self aligning shaft further including: a coupler housed in said first joint member having a slotted head;a drive shaft having a dowel pin, a compression spring, and a drive hub housed in said second joint member, said drive hub having a slotted face, a cross slot and a stepped cylindrical bore,such that said drive shaft engages said cylindrical bore,such that said drive hub cross slot provides axial compliance, as translational freedom along an axis of the drive shaft is limited by the length of said cross slot when said dowel pin interacts with said cross slot,such that said compression spring positioned inside said cylindrical bore and coupled to said drive shaft, provides axial force away outward from said drive shaft,such that upon rotational alignment, said coupler engages the drive hub slotted face and a rotational torque is transferred from said drive shaft, through said drive hub to said coupler. 6. The assembly of claim 5, wherein mating said dowel pin to said cross slot of said drive hub provides said rotational torque. 7. The assembly of claim 1, wherein engagement of said locking member with said engagement holes of the locking ring tab and the locking plate tab locks three translational degrees of freedom and three rotational degrees of freedom. 8. The assembly of claim 1, wherein said assembly further comprising: an electrical connector located in said first joint member; andan electrical receiver located in said second joint member, said receiver comprising:a pin holder and a pin having a contact surface, said pin holder for holding said pin in alignment for coupling said electrical receiver pin contact surface to a contact surface of a pin in a pin holder of said electrical connector,such that a displacement positions said electrical connector aligned with electrical receiver, said counter rotation causing an electrical connection. 9. The assembly of claim 8, wherein coupling said electrical receiver pin contact surface to said electrical connector pin contact surface comprises a rotary wiping motion as the first joint member is rotatably connected to the second joint member, said rotary wiping motion for removing debris from said electrical contact surfaces. 10. The assembly of claim 9, wherein said electrical receiver further comprises a flexible member resting in a notched wall of said pin holder adjacent said pin of said electrical receiver, wherein said flexible member provides force directed toward a center of the electrical receiver, said force pressing said contact surfaces together during rotation of said first joint member with respect to said second joint member. 11. The assembly of claim 10, wherein said pin of said electrical receiver can pivot radially, such that said flexible member of electrical receiver further provides compliance or resistance to vibration. 12. The assembly of claim 8, wherein said electrical receiver pin comprises a grooved contact surface, said groove forming multiple contact lines when engaged with said pin of said electrical connector. 13. The assembly of claim 1, wherein the locking member is a pin, a screw, or a fastener, comprising a conical surface for mating a chamfered surface. 14. The assembly of claim 1, comprising chamfered edges on a plurality of teeth of said locking ring and said locking plate, wherein rotation forces said chamfered teeth of said locking ring to slide under said chamfered edges of said locking plate teeth, such that said chamfered edges facilitate engagement of said teeth of said locking ring and plate. 15. The assembly of claim 1, wherein said first joint member and said second joint member are engaged to form an electrical connection operative to transmit images, control signals, activators, identification information, video, USB, TCP/IP, UDP, and CanBus, feedback information. 16. The assembly of claim 1, wherein said second joint member is connected to a robot arm.
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