EP3606708A1 - Mécanisme de libération rapide pour plaque d'adaptateur d'outil et robots incorporant celui-ci - Google Patents

Mécanisme de libération rapide pour plaque d'adaptateur d'outil et robots incorporant celui-ci

Info

Publication number
EP3606708A1
EP3606708A1 EP18781587.3A EP18781587A EP3606708A1 EP 3606708 A1 EP3606708 A1 EP 3606708A1 EP 18781587 A EP18781587 A EP 18781587A EP 3606708 A1 EP3606708 A1 EP 3606708A1
Authority
EP
European Patent Office
Prior art keywords
robot
tool plate
quick
ring
release mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18781587.3A
Other languages
German (de)
English (en)
Other versions
EP3606708A4 (fr
Inventor
Calvin Toothaker
Umberto Scarfogliero
Daniel Cookson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rethink Robotics GmbH
Original Assignee
Rethink Robotics GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rethink Robotics GmbH filed Critical Rethink Robotics GmbH
Publication of EP3606708A1 publication Critical patent/EP3606708A1/fr
Publication of EP3606708A4 publication Critical patent/EP3606708A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0483—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with head identification means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector

Definitions

  • the present invention relates to robot configuration and operation.
  • a typical industrial robot may, for example, have one or more arms, equipped with grippers, that allow the robot to pick up objects at a particular location, transport them to a destination location, and put them down in accordance with particular coordinates, thereby, for example, stacking them or placing them into cardboard boxes present at the destination location.
  • Robots may manipulate different types of objects and perform many tasks beyond simply moving them—for example, welding, joining, applying fasteners, etc.
  • end effectors have been developed for deployment on robot appendages; some of these end effectors, such as grippers, have utility across a range of tasks, while others, such as weld guns, are designed to perform a single, specialized task.
  • a commercial robot may accommodate different end effectors. For example, different end effectors may share a common linkage design that permits them to be interchangeably mounted to the cuff or wrist of a robot arm. Accommodating the robot to the end effector operationally is more difficult.
  • end effectors may be changed dynamically during operation, but typically this occurs at preprogrammed phases of task execution; that is, the robot controller code signals the need for a new end effector when the code governing the next task expects a replacement.
  • end effectors in other words, occur in response to robot expectation as it executes tasks or when the robot is outfitted for a new task.
  • the operator may find during operation that the task being performed by the robot unexpectedly requires finer control than the current set of grippers permits. In such circumstances, the operator will want to replace the existing grippers with a more suitable end effector, but without rewriting the robot's task-execution code.
  • driver may be dynamically linked and run during program execution when the corresponding end effector is detected.
  • the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected; this process is referred to herein as "self- configuration.”
  • the controller code itself, however, may issue generic commands not tied to any particular driver but to which appropriate drivers are coded to respond. This avoids the need to make changes at the controller-code level to accommodate different end effectors.
  • configuration data or “configuration information” refers to information identifying or helping to instantiate (e.g., select and parameterize) the proper driver for a particular end effector.
  • configuration data may be an actual driver, parameters used to tailor a generic driver to a particular end effector, or merely an identifier for the type of driver needed.
  • identifier or “identification data” refers to information that identifies the end effector and that may be combined with or used to locate appropriate configuration information for the end effector.
  • drivers, configuration data and identifiers may be variously distributed among components of a system depending on design priorities and preferences.
  • the end effector is not connected directly to the robot appendage but instead to a "tool plate” that is removably mounted to the distal end of the robot appendage.
  • the tool plate receives the end effector mechanically and may supply power and, in some cases, data signals thereto.
  • Various types and degrees of functionality can be distributed between the end effector and the tool plate, and the latter may accommodate more than one type of end effector. This arrangement facilitates flexible deployment of capabilities as best suited to a particular robot architecture; for example, one component may be "dumb” (e.g., incapable of communication or data processing) and the other "smart" (e.g., capable of
  • one implementation features a “dumb” end effector and a “smart” tool plate.
  • the smart tool plate may detect which of multiple types of connectable end effectors has been attached to it (e.g., based on electrical characteristics or the mechanical configuration of the end effector's connector), reporting this to the robot controller, which loads the appropriate driver.
  • the smart tool plate may accommodate only a single type of end effector, in which case it need only report its own identity to the robot controller, since this is sufficient to determine the proper driver.
  • Another implementation features a "smart" end effector and a “dumb” tool plate, in which case the tool plate merely facilitates communication between the end effector's on-board processor or controller and the robot controller; the end effector reports its identity in a wired or wireless fashion to the robot controller.
  • the tool plate may, for example, serve as an adapter between the robot appendage and a mechanically incompatible end effector.
  • reporting may be active (the “smart” component may initiate communication with the robot controller on its own and send information) or passive (the “smart” component may respond to a polling signal or other communication from the robot controller, which has detected attachment).
  • robot side or “robot portion” incorporating a quick-release mechanism and that is secured to the end or “cuff of the robot appendage, and a “tool side” or “tool portion” (opposed to the robot side) that receives one or more end effectors.
  • the robot side and thus the quick-release mechanism, is fixedly mounted (e.g., bolted) to the robot arm; thus, herein references to the "tool plate” may refer collectively to the robot side and the tool side or to the tool side alone.
  • the tool side of the tool plate is fixedly mounted (e.g., bolted) to one or more end effectors, although the end effector(s) utilized with the tool side may be interchanged (via, e.g., use of a removable adaptor plate that constitutes part of the tool side; the adaptor plate and/or the end effector may be removed and replaced).
  • the quick-release mechanism contains captive spherical bearing balls that move radially inward or outward depending on the position of an axially slidable retaining ring, and which are received within complementary depressions in the tool side of the tool plate.
  • the inner surface of the sliding ring may be tapered so that axial motion of the sliding ring causes radial movement of the bearing balls and secures them within the depressions.
  • the sliding ring is manually shifted, allowing the bearing balls to move radially outward, thereby freeing the tool plate.
  • a removable security collar may be employed to prevent this sliding movement and, hence, keep the tool plate secured to the robot both axially and rotationally.
  • embodiments of the invention feature an interchangeable end- effector assembly for use with a robot system including, consisting essentially of, or consisting of a robot body, a robot arm connected to the robot body and having a distal end including a first connector, a robot controller for controlling the robot arm, and an end effector connected thereto via the first connector.
  • the end-effector assembly includes, consists essentially of, or consists of a tool plate removably connectable to the robot arm, and a quick-release mechanism for removably retaining the tool plate against the robot arm.
  • the tool plate includes (1) nonvolatile memory storing and/or configured to store data including, consisting essentially of, or consisting of identification information and/or configuration information, (2) a communication interface, (3) a processor, and (4) a second connector matable with the first connector for establishing bidirectional communication between the processor and the robot controller via the communication interface.
  • the processor may be configured to cause transmission of the data to the robot controller upon mating of the first and second connectors.
  • Embodiments of the invention may include one or more of the following in any of a variety of combinations.
  • the tool plate may include, consist essentially of, or consist of a raised portion having a series of depressions circumferentially arranged around a side wall thereof.
  • the quick-release mechanism may include, consist essentially of, or consist of a recess for receiving the raised portion of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring. Axial movement of the ring in a first direction may lock the bearing balls within the depressions of the raised portion of the tool plate, thereby retaining the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction may release the bearing balls from the depressions, thereby releasing the tool plate from the quick-release mechanism.
  • the slidable ring may have a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
  • the end-effector assembly or the quick-release mechanism may include a spring-loaded, retractable retention ring.
  • the retention ring may prevent inward radial movement of the bearing balls in a rest position and, when retracted against the spring loading in response to entry of the raised portion of the tool plate, may allow movement of the bearing balls into the depressions.
  • the retention ring may be spring-loaded via a compression wave spring.
  • the end-effector assembly or the quick-release mechanism may include a removable security collar configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented.
  • the end effector may have a third connector.
  • the tool plate may include a removable adaptor plate, and the adaptor plate may have a fourth connector matable with the third connector.
  • the adaptor plate may be disposed opposite the second connector of the tool plate.
  • embodiments of the invention feature a robot system that includes, consists essentially of, or consists of a robot body, a robot arm connected to the robot body, a robot controller, a tool plate removably connectable to the robot arm, an end effector connected to the tool plate, and a quick-release mechanism for removably retaining the tool plate against the robot arm.
  • the robot arm has a distal end including a first connector.
  • the robot controller controls the robot arm and an end effector connected thereto via the first connector.
  • the tool plate includes (1) nonvolatile memory storing and/or configured to store data including, consisting essentially of, or consisting of identification information and/or configuration information, (2) a communication interface, (3) a processor, and (4) a second connector matable with the first connector for establishing bidirectional
  • the processor may be configured to cause transmission of the data to the robot controller upon mating of the first and second connectors.
  • Embodiments of the invention may include one or more of the following in any of a variety of combinations.
  • the robot controller may be adapted to self- configure based on the data and to control movements of the connected end effector based on the self-configuration.
  • the data may include, consist essentially of, or consist of both identification information and configuration information.
  • the data may not include configuration information.
  • the robot system may include a database including records relating end-effector identification information to configuration information for the end effector.
  • the robot controller may be further adapted to query the database using the identification information to obtain the corresponding configuration information and to self-configure based thereon.
  • the data may include configuration information.
  • the configuration information may specify a driver for controlling the end effector.
  • the configuration information may include, consist essentially of, or consist of the driver, one or more parameters usable to tailor a generic driver to the end effector, and/or an identifier specifying a type of the driver.
  • the tool plate may include, consist essentially of, or consist of a raised portion having a series of depressions circumferentially arranged around a side wall thereof.
  • the quick-release mechanism may include, consist essentially of, or consist of a recess for receiving the raised portion of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring.
  • Axial movement of the ring in a first direction may lock the bearing balls within the depressions of the raised portion of the tool plate, thereby retaining the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction may release the bearing balls from the depressions, thereby releasing the tool plate from the quick-release mechanism.
  • the slidable ring may have a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
  • the end-effector assembly or the quick-release mechanism may include a spring-loaded, retractable retention ring.
  • the retention ring may prevent inward radial movement of the bearing balls in a rest position and, when retracted against the spring loading in response to entry of the raised portion of the tool plate, may allow movement of the bearing balls into the depressions.
  • the retention ring may be spring-loaded via a compression wave spring.
  • the end-effector assembly or the quick-release mechanism may include a removable security collar configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented.
  • the end effector may have a third connector.
  • the tool plate may include a removable adaptor plate, and the adaptor plate may have a fourth connector matable with the third connector.
  • the adaptor plate may be disposed opposite the second connector of the tool plate.
  • embodiments of the invention feature a robot system that includes, consists essentially of, or consists of a robot body, a robot arm connected to the robot body, a robot controller, a tool plate removably connectable to the robot arm via a first tool -plate connector matable with the robot connector, a quick-release mechanism for removably retaining the tool plate against the robot arm, and an end effector removably connectable to the robot arm.
  • the robot arm has a distal end including a robot connector.
  • the robot controller controls the robot arm and an end effector connected thereto.
  • the tool plate includes a second tool-plate connector opposite the first tool-plate connector.
  • the end effector includes (1) nonvolatile memory storing and/or configured to store data including, consisting essentially of, or consisting of identification information and/or configuration information, (2) a communication interface, (3) a processor, and (4) an end-effector connector matable with the second tool-plate connector for establishing bidirectional communication between the processor and the robot controller via the communication interface.
  • the processor may be configured to cause transmission of the data to the robot controller upon mating of the end effector and the tool plate with the robot arm.
  • Embodiments of the invention may include one or more of the following in any of a variety of combinations.
  • the data may not include configuration
  • the tool plate may include nonvolatile memory storing configuration information and circuitry for locating configuration information corresponding to the end effector based on the data.
  • the robot controller may be adapted to self-configure based on the data and to control movements of the connected end effector based on the self-configuration.
  • the data may include, consist essentially of, or consist of both identification information and configuration information.
  • the robot system may include a database including records relating end-effector identification information to configuration information for the end effector.
  • the robot controller may be further adapted to query the database using the identification information to obtain the corresponding configuration information and to self-configure based thereon.
  • the data may include configuration information.
  • the configuration information may specify a driver for controlling the end effector.
  • the configuration information may include, consist essentially of, or consist of the driver, one or more parameters usable to tailor a generic driver to the end effector, and/or an identifier specifying a type of the driver.
  • the tool plate may include, consist essentially of, or consist of a raised portion having a series of depressions circumferentially arranged around a side wall thereof.
  • the quick-release mechanism may include, consist essentially of, or consist of a recess for receiving the raised portion of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring.
  • Axial movement of the ring in a first direction may lock the bearing balls within the depressions of the raised portion of the tool plate, thereby retaining the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction may release the bearing balls from the depressions, thereby releasing the tool plate from the quick-release mechanism.
  • the slidable ring may have a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
  • the end-effector assembly or the quick-release mechanism may include a spring-loaded, retractable retention ring.
  • the retention ring may prevent inward radial movement of the bearing balls in a rest position and, when retracted against the spring loading in response to entry of the raised portion of the tool plate, may allow movement of the bearing balls into the depressions.
  • the retention ring may be spring-loaded via a compression wave spring.
  • the end-effector assembly or the quick-release mechanism may include a removable security collar configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented.
  • the tool plate may include a removable adaptor plate on which the second tool-plate connector is disposed.
  • embodiments of the invention feature a quick-release mechanism comprising a recess for receiving an article to be locked thereto.
  • the quick-release mechanism includes, consists essentially of, or consists of a ring surrounding the recess and slidable along an axis concentric therewith and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring. Axial movement of the ring in a first direction locks the bearing balls within complementary depressions in the article, thereby retaining the article within the quick-release mechanism. Axial movement of the ring in a second direction opposed to the first direction releases the bearing balls from the depressions, thereby releasing the article from the quick-release mechanism.
  • Embodiments of the invention may include one or more of the following in any of a variety of combinations.
  • the slidable ring may have a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
  • the quick-release mechanism may include a spring-loaded, retractable retention ring.
  • the retention ring may prevent inward radial movement of the bearing balls in a rest position. When retracted against the spring loading in response to entry of the article, the retention ring may allow movement of the bearing balls into the depressions.
  • the retention ring may be spring-loaded via a compression wave spring.
  • the quick-release mechanism may include a removable security collar configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented.
  • embodiments of the invention feature an interchangeable tool plate for use with a robot system that includes, consists essentially of, or consists of a robot body, a robot arm connected to the robot body and having a distal end including a robot connector, a robot controller for controlling the robot arm, and a quick-release mechanism connected to the distal end of the robot arm.
  • the tool plate includes, consists essentially of, or consists of a raised portion matable within a recessed portion of the quick-release mechanism and an electrical connector configured to engage a complementary electrical connector when the raised portion is received within the quick-release mechanism.
  • the raised portion includes a plurality of depressions circumferentially distributed around a side wall thereof. The depressions are sized and shaped to lockably receive bearing balls from the quick- release mechanism for removable retention of the tool plate within the quick-release mechanism.
  • Embodiments of the invention may include one or more of the following in any of a variety of combinations.
  • the tool plate may include a tool-plate connector opposite the raised portion for receiving an end effector.
  • the tool plate may include a removable adaptor plate on which the tool-plate connector is disposed.
  • the tool plate may include nonvolatile memory storing and/or configured to store data.
  • the robot controller may be adapted to self-configure based on the data and to control movements, based on the self-configuration, of an end effector connected to the tool plate.
  • the data may include, consist essentially of, or consist of identification information and/or configuration information.
  • the data may include, consist essentially of, or consist of identification information and configuration information.
  • the data may not include configuration information.
  • the robot system may include a database including records relating end-effector identification information to end- effector configuration information.
  • the robot controller may be adapted to query the database using the identification information to obtain the corresponding
  • the data may include, consist essentially of, or consist of configuration information.
  • the configuration information may specify a driver for controlling an end effector matable to the tool plate.
  • the configuration information may include, consist essentially of, or consist of the driver, one or more parameters usable to tailor a generic driver to the end effector, and/or an identifier specifying a type of the driver.
  • the tool plate may include a processor and a communication interface for bidirectional communication between the robot controller and the processor.
  • the processor may be configured to cause transmission of the data to the robot controller upon mating of the electrical connector with the complementary electrical connector.
  • the tool plate may include a removable security collar for locking the tool plate to the quick-release mechanism.
  • the security collar may be circular or semicircular.
  • FIG. 1 A is a perspective view of a robot in accordance with various embodiments of the invention.
  • FIG. IB schematically illustrates internal and external components of the robot shown in FIG. 1 A;
  • FIGS. 2 A and 2B are perspective views of a tool plate in accordance with various embodiments of the invention.
  • FIGS. 3A and 3B are perspective and plan views, respectively, that show the manner in which a tool plate in accordance with various embodiments of the invention may mate with the end of a robot arm;
  • FIG. 4 schematically depicts an interoperating system including a robot arm, a tool plate, and a pair of end effectors in accordance with various embodiments of the invention
  • FIG. 5 is a perspective view of a tool plate in accordance with various embodiments of the invention mated with the end of a robot arm;
  • FIG. 6 is a perspective view of various components of the tool plate of FIG. 5 disengaged from each other in accordance with various embodiments of the invention
  • FIG. 7 is an exploded view of various components of the tool plate of FIG. 5 in accordance with various embodiments of the invention.
  • FIG. 8 is an exploded view of a quick-release mechanism of a robot side of a tool plate in accordance with various embodiments of the invention.
  • FIG. 9 is a cross-sectional view of a tool plate in accordance with various embodiments of the invention.
  • FIG. 10 is a magnified partial view of the cross-section of FIG. 9 in which the tool side and robot side of the tool plate are in a disengaged configuration in accordance with various embodiments of the invention.
  • FIG. 11 is a magnified partial view of the cross-section of FIG. 9 in which the tool side and robot side of the tool plate are in an engaged configuration in accordance with various embodiments of the invention.
  • FIGS. 1 A and IB illustrate, respectively, a perspective view of a representative robot 100 and a schematic detailing the various internal operative components.
  • the robot 100 includes at least one robot arm 105— as shown in FIG. IB, a robot may have more than one arm— that terminates in one or more end effectors 110 for manipulating objects.
  • the arm 105 has several (e.g., seven) degrees of freedom provided by suitable (and conventional) rotational joints. Each joint desirably employs a series elastic actuator, enabling the robot to sense external forces applied to it, such as, e.g., forces resulting from unexpected collisions.
  • FIG. 1 A and IB illustrate, respectively, a perspective view of a representative robot 100 and a schematic detailing the various internal operative components.
  • the robot 100 includes at least one robot arm 105— as shown in FIG. IB, a robot may have more than one arm— that terminates in one or more end effectors 110 for manipulating objects.
  • the arm 105 has several (e.g.,
  • a parallel -jaw gripper 110 that allows the robot to grasp, lift, and move objects is mounted at the end of the arm 105; as explained below, the gripper 110 is just one of many possible end effectors.
  • the robot 100 also has a head-like screen 112, which may display a pair of eyes or other output reinforcing the robot's orientation to nearby personnel or announcing its state.
  • the screen 110 can rotate about a vertical access, and nod about a horizontal axis running parallel to the long axis of the screen 110.
  • the robot 100 includes one or more cameras 115. In FIG. 1 A, a camera 115 is shown above the screen 112.
  • the robot 100 may also include one or more range sensors in the wrist 117 of the appendage 105, and in some embodiments, one or more sonar sensors detects moving objects in the environment. In addition to these sensors for visually and/or acoustically detecting objects, the robot 100 may include a number of touch-sensitive sensors and mechanical features on the arm 105 that facilitate mechanical interaction with a person (e.g., a trainer).
  • the robot 100 may include a set 118 of knobs and buttons (a "navigator") that allows the user to respond to information displayed on the screen 112 (e.g., by selecting menu items, switching between training and execution mode) and enter numbers (e.g., to indicate in how many rows and columns objects are to be packed in a box) or text (e.g., passwords or object and task names) via a digital rotary knob.
  • a "navigator” e.g., a "navigator”
  • the robot 100 described above is, of course, only one of many possible robot embodiments in accordance with the invention, and the various features described above are representative rather than limiting. Various components and features may be modified in manners that will be readily apparent to persons of skill in the art.
  • the robot may, generally, have any number of arms (or, more generally, appendages), and each arm may have any number of degrees of freedom.
  • the links of the arms need not be joined by rotational joints with one degree of freedom (such as, e.g., hinge joints), but may, for example, include ball-and-socket joints that provide two rotational degrees of freedom, or rail systems that facilitate translational motion.
  • Robot operation is governed by a robot controller 125, which monitors and alters robot positions, kinematics, dynamics, and forces; controls joint-level actuators to move the robot and/or its moving parts as directed by the robot controller; and high-level computational functionality that facilitates image-processing, user interaction, etc.
  • the robot controller 125 may generally be implemented in hardware, software, or a combination of both on a general -purpose or special-purpose computer, which includes a bidirectional system bus 128 over which the central processing unit (CPU) 130, memory 133, and storage devices 136 communicate with each other as well as with internal or external input/output devices such as the screen 112, the camera 115, navigators 118, wrist cuffs, and any other input devices and/or external sensors.
  • CPU central processing unit
  • a conventional communication interface 138 facilitates communications over a network, such as the Internet and/or any other land-based or wireless telecommunications network or system.
  • the storage devices 136 store an end- effector database 140 which, as explained in greater detail below, maintains information relevant to the various types of end effectors 110 that may be associated with the robot 100.
  • the various modules may be programmed in any suitable programming language, including, without limitation, high-level languages such as C, C++, C#, Ada, Basic, Cobra, Fortran, Java, Lisp, Perl, Python, Ruby, or Object Pascal, or low-level assembly languages.
  • the robot controller 125 may be programmed in any suitable programming language, including, without limitation, high-level languages such as C, C++, C#, Ada, Basic, Cobra, Fortran, Java, Lisp, Perl, Python, Ruby, or Object Pascal, or low-level assembly languages.
  • the robot controller 125 may be any suitable programming language, including, without limitation, high-level languages such as C, C++
  • the end effector 110 is connected to the robot arm 105 via a tool plate 150, which may accommodate more than one type of end effector 110 and, in some implementations, more than one end effector at a time.
  • the tool plate 150 acts as a "universal" connector that is mechanically and electrically connected to the robot 100 via the robot arm 105, and which receives mechanical and electrical connectors from the end effector 110.
  • the tool plate 150 assists the robot controller 125 in locating and installing the appropriate driver for a particular end effector 110.
  • the tool plate 150 may alert the robot controller when an end effector has been removed and replaced with a different (but compatible) end effector, providing information that allows the controller 125 to locate, load, and run the appropriate new driver in real time.
  • the tool plate 150 may be one of several differently configured tool plates, each having identical mechanical and electrical connectors for mating with the robot arm 105 but different receptacles for receiving different end effectors. In this way, it is possible to accommodate more end effectors than the number of receptacles a single tool plate could physically support, and also facilitates system extensibility: as new end effectors with different connector configurations are developed, it is not necessary to replace the entire robot 100 or even the robot arm 105; rather, the ability to swap tool plates 150 means it is only necessary to design a new tool plate.
  • Features of the tool plate 150 described below provide flexibility in this regard.
  • the tool plate 150 includes, consists essentially of, or consists of two different portions. Specifically, a first portion of the tool plate 150 may attach to and may remain affixed to the robot arm 105, and a second portion of the tool plate 150 may be reversibly mechanically engaged with the first portion. This second portion of the tool plate 150 may be affixed to an end effector and may even incorporate a detachable adaptor plate for connecting to the end effector. In this manner, either the entire second portion of the tool plate 150 or the adaptor plate may be switched out, if necessary, to accommodate other types of end effectors.
  • the first portion of the tool plate 150 may incorporate a quick-release mechanism, as described in additional detail below, which facilitates attachment and disengagement of the second portion of the tool plate 150.
  • FIGS. 2A and 2B illustrate both faces of a tool plate 150 in accordance with various embodiments of the invention, and FIGS. 3 A and 3B depict its attachment to the end of a robot arm.
  • the face 205 includes a recess 210 having a circular perimeter and, at the center of the recess 210, a raised platform 215 within which are 10 spring- loaded pins (e.g., pogo pins) 220 for establishing removable electrical connection to complementary receptacles.
  • a plurality of bores 225 extend through the tool plate 150 and allow bolts to be passed through for secure attachment to the robot arm.
  • the effector-facing face 230 includes a raised annular ridge 235 with indentations 240 exposing the bores 225.
  • these indentations 240 interlock with complementary extensions into the annular recess on the end effector (not shown) that receives the ridge 235.
  • a series of bolt holes 245 along the top surface of the ridge 235 allow the end effector to be secured to the tool plate 150.
  • attachment of an end effector to a tool plate 150 results only in a mechanical connection.
  • Electrical signals and power may be delivered to the mounted end effector by one or more (e.g., a pair of) electrical connectors 250 (e.g., M8 industrial connectors), which are connected via suitable cables to the end effector.
  • the electrical signals and power typically originate with the robot controller and are received by the tool plate 150 via the pin connectors 220.
  • the tool plate 150 may include circuitry that converts signals and/or power received from the robot into a different form for the end effector mounted thereto.
  • the tool plate 150 is brought into contact with the end face 305 of the robot arm 105, and the raised annular ridge 310 on the end face 305 is received within the complementary recess 210 of the tool plate 150.
  • a series of bolt holes 315 align with the bores 225 through the tool plate, allowing the tool plate 150 to be bolted or otherwise mechanically secured to the robot arm 105; in some embodiments, however, a quick-release latch is used instead of bolts.
  • the pin connectors 220 are received in a receptacle 320 as the tool plate 150 and the robot arm 105 assume the mated configuration illustrated in FIG. 3B.
  • the operation and key internal components of the tool plate 150 are illustrated in FIG. 4.
  • the tool plate includes a memory 405, support circuitry 410, and a control element 415 that may be a microprocessor, microcontroller, or other suitable component.
  • the capabilities of the control element 415 depend on the functions assigned to the tool plate 150, as described below.
  • the tool plate mechanically and electrically mates with one or more end effectors 420, two of which are
  • the tool plate 150 has two receptacles, one for each of the end effectors 420, and each containing appropriate features to facilitate mechanical and electrical mating therewith.
  • the tool plate 150 may simultaneously accommodate more than one end effector 420 and/or may interchangeably accommodate different types of end effectors.
  • an end effector 420 may include suction grippers or other means of holding or manipulating an object.
  • the end effector may be a tool (such as a drill, saw, welder, etc.), a measuring device (such as e.g., a scale, gauge, etc.) or other function-implementing device.
  • the tool plate 150 receives power and establishes communication with the robot controller 125 (see FIG. IB).
  • the robot controller 125 see FIG. IB.
  • intermediary hardware such as an interface 425 and a local motor controller 430.
  • the interface supplies power from the robot to the tool plate 150 and supports bidirectional data communication with the tool plate 150 via, for example, the RS-485 serial communication protocol; the support circuitry 410 of the tool plate 150 contains complementary communication components.
  • the local motor controller 430 receives commands from the robot controller 125 (via, for example, a link-layer protocol such as Ethernet) and actuates motors associated with one or more nearby joints of the robot arm 105 to effect the commands.
  • the local controller 430 also receives commands from the robot controller 125 that operate the end effectors 420. It communicates these commands to the tool plate 150 via the interface 425 (using RS-485, for example), and the tool plate 150 issues commands (or provides power) to the addressed end effector via the Digital Out line.
  • the commands are typically low-level commands specific to the end effector.
  • the tool plate 150 could be configured to accept high-level, generic commands from the robot controller 125 and translate these into effector-specific signals, usually this is not done; rather, in more typical implementations, the robot controller 125 has "self-configured” to deliver effector- specific commands. The manner in which this may be accomplished is explained below. It should also be emphasized that the robot arm 105 may itself include a processor that can perform higher-level tasks. Thus, while the processor 415 may act as a "master” to control communications with the robot arm 125, it may instead act as a "slave” to a processor in the robot arm (which may, for example, poll the tool plate 150 and transmit data to the robot controller).
  • an end effector 420 When an end effector 420 is mated with the tool plate 150, various communications take place whose end result is to provide power to and enable communication between the robot controller 125 and the end effector 420, but also to enable the robot controller to self-configure in order to operate the end effector.
  • the end effector is a "dumb" device with no onboard information to offer the robot controller.
  • the tool plate 150 recognizes the end effector because of the receptacle configuration (e.g., it is designed to accept a single type of end effector), or from its mechanical and/or electrical characteristics, or because the tool plate accommodates only one type of end effector.
  • the memory 405 stores an identifier for each of the two possible end effectors 420i, 420 2 .
  • the control element 415 detects attachment of a particular end effector, it communicates the corresponding identifier to the robot controller 125 via the robot arm 105.
  • the robot controller uses the communicated identifier to locate, in the database 140 (see FIG. IB), configuration information for the end effector.
  • the database 140 may contain a library of configuration information (e.g., drivers or pointers to drivers stored elsewhere), and upon selection of the driver information based on the received end-effector identifier, the robot controller 125 self-configures, i.e., loads and installs the proper driver.
  • the tool plate 150 may detect both installation and removal of an end effector, these may be "hot swapped" in real time without powering down and re-booting the robot; via the circuitry 410, the control element 415 will alert the robot controller 125 that a new end effector has been attached, and provide the identifier for the new end effector.
  • Detecting attachment of an end effector may occur in an active or passive fashion.
  • the end effector or tool plate can initiate communication with the robot controller or the tool plate.
  • the end effector or tool plate may, upon attachment, emit a
  • the robot controller 125 (or, in some implementations, the robot arm 105) sends commands to the end effector or the tool plate, which responds with data (I/O or status data, or stored configuration/identification data, depending on the command).
  • the configuration information is stored in the memory 405 of the tool plate 150, and upon detecting attachment of an end effector, the control element 415 locates the corresponding configuration information in the memory 405 and transmits this to the robot controller 125.
  • the configuration information may be the driver itself or a pointer thereto, enabling the robot controller 125 to download the latest version of the driver before self- configuring, or information that enables the robot controller 125 to parameterize a generic driver for the particular end effector.
  • the memory 405 may also store end- effector-specific metrics such as cycle counts and hours of operation, allowing for preventive maintenance such as replacing suction cups and/or other components when they are near their rated cycle limit.
  • any of the receptacles 420 may accommodate more than one type of end effector.
  • the end effector may store an identifier that is provided to (or retrieved by) the tool plate 150 upon establishing communication with a newly installed end effector.
  • the tool plate 150 communicates the identifier to the robot controller 125 or, in some embodiments, uses the identifier to retrieve configuration information from the memory 405 and sends this information to the robot controller 125.
  • the optimal distribution of information i.e., whether to store configuration information on the tool plate 150 or in nonvolatile memory on the robot itself— represents a design choice.
  • network resources e.g., via the Internet
  • the end effector is "smart," i.e., contains its own configuration information
  • this may be retrieved by the tool plate 150 and provided to the robot controller 125. It is even possible for the tool plate 150 to communicate wirelessly with end effectors and/or the robot controller 125 using a suitable on-board wireless interface. If, on the other hand, the robot controller 125 is unable to locate a suitable driver, it may search for a driver in a remote (e.g., hosted) repository of drivers or may autonomously conduct an Internet search for the proper driver, installing and testing proper operation and functionality via the tool plate 150 before actually allowing the robot to operate normally.
  • a remote e.g., hosted
  • control element 415 of the tool plate 150 may be any suitable microprocessor or microcontroller, depending on the functions that the tool plate is to perform.
  • control element 415 may be a programmable microcontroller designed expressly for embedded operation, or one or more conventional processors such as the Pentium or Celeron family of processors manufactured by Intel Corporation of Santa Clara, Calif.
  • the memory 405 may store programs and/or data relating to the operations described above.
  • the memory 405 may include random access memory (RAM), read only memory (ROM), and/or FLASH memory residing on commonly available hardware such as one or more application specific integrated circuits (ASIC), field programmable gate arrays (FPGA), electrically erasable programmable read-only memories (EEPROM), programmable read-only memories (PROM), or programmable logic devices (PLD).
  • RAM random access memory
  • ROM read only memory
  • FLASH memory residing on commonly available hardware such as one or more application specific integrated circuits (ASIC), field programmable gate arrays (FPGA), electrically erasable programmable read-only memories (EEPROM), programmable read-only memories (PROM), or programmable logic devices (PLD).
  • ASIC application specific integrated circuits
  • FPGA field programmable gate arrays
  • EEPROM electrically erasable programmable read-only memories
  • PROM programmable read-only memories
  • PLD programmable logic devices
  • a tool plate 150 may have a "robot side” 500 incorporating a quick-release mechanism that is itself secured to the end or "cuff 510 of the robot appendage 105, and a “tool side” 520 (opposed to the robot side 500) that receives one or more end effectors.
  • the robot side 500 is fixedly mounted (e.g., bolted) to the robot appendage 105.
  • the tool side 520 of the tool plate 150 may be fixedly mounted (e.g., bolted) to one or more end effectors.
  • the tool side 520 may include an
  • interchangeable adaptor plate 525 configured to mechanically couple to one or more types of end effector.
  • This arrangement enables not only the end effectors but also the tool plate 150, or a portion thereof (e.g., the tool side 520 or the adaptor plate 525), to be conveniently interchanged or connected to another robot (via another robot-side portion affixed thereto) with mechanical security but without tools, air pressure, or electric actuation.
  • the robot side 500 may quickly and easily detach from the tool side 520 via a quick-release mechanism (detailed below).
  • the quick-release mechanism may incorporate a removable security collar 530 that, when engaged as shown in FIG.
  • FIG. 5 depicts the tool side 520 of the tool plate 150 disengaged from the robot side 500 via removal of the security collar 530. As shown, the robot side 500 may remain affixed to the cuff 510 of the robot appendage.
  • FIG. 7 is an exploded view of the tool plate 150 of FIGS. 5 and 6.
  • the robot side 500 which incorporates the quick-release mechanism (detailed below), may be affixed to the cuff 510 of the robot appendage via one or more bolts 700 or other fasteners.
  • the tool side 520 of the tool plate 150 may include adapter plate 525 that may be changed depending on the end effector(s) to be employed and which may be attached to tool side 520 via one or more bolts 710 or other fasteners.
  • a raised portion 720 of tool side 520 includes a series of circumferentially distributed (and typically equidistant) depressions, one of which is indicated representatively at 730. As will be seen, these depressions receive bearing balls that act to lock the tool side 520 to the robot side 500 in a locked configuration.
  • the quick-release mechanism of the robot side 500 contains captive spherical bearing balls that move radially inward or outward depending on the position of an axially slidable retaining ring, and which are received within complementary depressions 730 in the tool side 520 of the tool plate 150.
  • the inner surface of the sliding ring may be tapered so that axial motion of the sliding ring causes radial movement of the bearing balls and secures them within the depressions 730.
  • the bearing balls prevent axial movement of the tool side 520 of the tool plate 150.
  • the sliding ring is manually shifted, allowing the bearing balls to move radially outward, thereby freeing the tool side 520 of the tool plate 150.
  • Removable security collar 530 may be employed to prevent this sliding movement and, hence, keep the tool plate 150 secured to the robot both axially and rotationally.
  • the depressions 730 are shown as hemispherical in shape (i.e., circular in cross-section or perimeter), in various embodiments one or more (or even all) of the depressions 730 may have other shapes (e.g., oblong, ovular, polygonal in cross- section or perimeter) that do not necessarily conform to the shape of the spherical bearing balls but that are nonetheless effective to secure the bearing balls therewithin and thereby prevent axial motion of the tool side 520 of the tool plate 150.
  • FIG. 8 Various components of a quick-release mechanism of robot side 500 of a tool plate 150 are shown in the exploded view of FIG. 8. These include a top retaining ring 800, a plurality of compression springs 805, a sliding ring 810 whose axial movement controls the operation of the quick-release mechanism, a ball-stop ring
  • the sliding ring 810 may include a lip or flange that the user may engage manually when moving the ring.
  • the compression wave spring 820 (or, in other embodiments, another type of compression spring such as a coil spring) rests on the top surface of an interior ridge of the sliding ring 810, providing assistive force for axial movement of the sliding ring 810 and concomitant engagement of the bearing balls 830 in the complementary recesses 730, as described below.
  • the sliding ring 810 and the bearing retainer 825 may include, consist essentially of, or consist of one or more metals, e.g., stainless steel and/or a refractory metallic material such as titanium, tungsten, hafnium, tantalum, and/or niobium.
  • the raised portion 720 of the tool side 520 is received within the interior of the bearing retainer 825 and the sliding ring 810.
  • the mechanism of action may be seen in FIGS 9-11.
  • the ball-stop ring 815 lies concentrically adjacent to the interior surface of the bearing retainer 825, preventing the bearing balls 830 from migrating inwardly. It is retained in this configuration by the compression springs 805, which rest against the tabs 835 of the ball-stop ring 815.
  • the raised portion 720 enters the bearing retainer 825, it forces the ball-stop ring 815 against the compression springs 805 and into a recessed portion of the bearing retainer 825.
  • the ball-stop ring 815 provides a push-to-connect functionality that responsively actuates the locking mechanism as the user pushes the raised portion 720 of the tool side 520 into the quick-release mechanism; the user need not, for example, lift the sliding ring 810 in order to connect the tool plate 150.
  • the bearing balls 830 sit loosely between the depressions 730 of the raised portion of the tool side 520 and a beveled edge of an interior ridge 1000 of the sliding ring 810.
  • the tool side 520 may be freely withdrawn, and the compression springs 805 will urge the ball-stop ring 815 so that it follows the tool side 520 and prevents the bearing balls 830 from migrating inwardly, as shown in FIG. 10.
  • the quick-release mechanism utilizes six bearing balls 830, which may be, but are not necessarily, spaced equidistant from each other around the
  • bearing retainer 825 The optimal number of bearing balls is payload-dependent, and in typical applications may be as few as three or as many as eight, or even more.
  • the number of tabs 835 of the ball-stop ring 815, and corresponding springs 805, may vary from as few as three or as many as eight, or even more.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Pour une utilisation avec un système de robot comprenant un corps de robot, un bras de robot, un dispositif de commande de robot et un effecteur d'extrémité, l'invention concerne un ensemble effecteur d'extrémité interchangeable comprenant: une plaque d'outil; et un mécanisme de libération rapide, la plaque d'outil comprenant: une mémoire non volatile stockant des données; une interface de communication; un processeur; et un second connecteur pouvant s'accoupler avec un premier connecteur, le processeur étant configuré pour provoquer la transmission des données au dispositif de commande de robot lors de l'accouplement des premier et second connecteurs.
EP18781587.3A 2017-04-07 2018-03-26 Mécanisme de libération rapide pour plaque d'adaptateur d'outil et robots incorporant celui-ci Withdrawn EP3606708A4 (fr)

Applications Claiming Priority (2)

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US201762482958P 2017-04-07 2017-04-07
PCT/US2018/024276 WO2018187067A1 (fr) 2017-04-07 2018-03-26 Mécanisme de libération rapide pour plaque d'adaptateur d'outil et robots incorporant celui-ci

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EP3606708A1 true EP3606708A1 (fr) 2020-02-12
EP3606708A4 EP3606708A4 (fr) 2021-05-12

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EP (1) EP3606708A4 (fr)
JP (1) JP6945715B2 (fr)
KR (1) KR102339489B1 (fr)
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WO (1) WO2018187067A1 (fr)

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CN116533218B (zh) * 2023-05-24 2024-05-03 上海智元新创技术有限公司 快拆装置和机器人

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JP6945715B2 (ja) 2021-10-06
JP2020516476A (ja) 2020-06-11
WO2018187067A1 (fr) 2018-10-11
CN110709215A (zh) 2020-01-17
KR102339489B1 (ko) 2021-12-17
EP3606708A4 (fr) 2021-05-12
CN116237971A (zh) 2023-06-09
CN110709215B (zh) 2023-08-01
KR20190128263A (ko) 2019-11-15

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