US20160318193A1 - Modular Tooling Apparatus Having Serrated Teeth for Orbital and Linear Adjustment - Google Patents
Modular Tooling Apparatus Having Serrated Teeth for Orbital and Linear Adjustment Download PDFInfo
- Publication number
- US20160318193A1 US20160318193A1 US15/207,842 US201615207842A US2016318193A1 US 20160318193 A1 US20160318193 A1 US 20160318193A1 US 201615207842 A US201615207842 A US 201615207842A US 2016318193 A1 US2016318193 A1 US 2016318193A1
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- US
- United States
- Prior art keywords
- linkage member
- contoured surface
- tooling apparatus
- modular tooling
- axis
- 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.)
- Abandoned
Links
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/10—Arrangements for locking
- F16C11/103—Arrangements for locking frictionally clamped
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/048—Allowing translations adapted to forward-backward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/02—Locking means
- F16M2200/021—Locking means for rotational movement
- F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/02—Locking means
- F16M2200/025—Locking means for translational movement
- F16M2200/028—Locking means for translational movement by positive interaction, e.g. male-female connections
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/066—Arms being part of the head
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32008—Plural distinct articulation axes
- Y10T403/32041—Universal
- Y10T403/32049—Non-coplanar axes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32254—Lockable at fixed position
- Y10T403/32262—At selected angle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32254—Lockable at fixed position
- Y10T403/32262—At selected angle
- Y10T403/32319—At selected angle including pivot stud
- Y10T403/32368—At selected angle including pivot stud including radial interengaging tongue and slot or serrations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32254—Lockable at fixed position
- Y10T403/32262—At selected angle
- Y10T403/32418—Plural distinct positions
Definitions
- the present invention relates to a modular tooling apparatus having orbital and linear adjustments, and in particular, a modular tooling apparatus having serrated teeth that provide for accurate and repetitive orbital, rotational, and linear adjustment of modular tooling connected to the modular tooling apparatus.
- ball mounts to provide rotational or orbital adjustment of the tubing.
- Such ball mounts typically provide a bracket that receives and clamps a spherical ball through the use of the bracket and a conventional fastener. Due to the configuration of the clamps, such ball mounts typically do not provide 360° rotational movement.
- these designs are susceptible to slipping, especially when such tooling mounts are exposed to various grease and oils, as well as random forces that are common in an industrial environment. If the ball mount slips, the work piece-handling boom may become misaligned with respect to the work piece thereby requiring the workstation to be shut down and readjusted. These shut downs create inefficiencies that are undesirable in an industrial environment.
- Other modular tooling apparatuses have utilized opposing serrated teeth to provide rotational or orbital adjustment of a first and second coupling about an axis of rotation.
- the serrated teeth provide predetermined rotational adjustment of the first and second couplings relative to one another while assuring that the couplings will not rotate or slip with respect to one another when the serrated teeth are engaged in a tightened position.
- a disadvantage to the serrated teeth is that they provide a predetermined number of set positions, thereby limiting the possible positions of the modular tooling apparatus.
- Another disadvantage in the serrated teeth adjustment is that the serrated teeth must be completely disengaged from one another in order to adjust the position of the couplings.
- adjusting the couplings by rotating the serrated teeth relative to one another can be a rather cumbersome and difficult task. Since there may be several pieces of modular tooling connected to the serrated teeth, it may become even more difficult to adjust the positioning of the serrated teeth, especially in an industrial environment. Such difficulties cause inefficiencies that are undesirable in an industrial environment.
- the present invention provides a modular tooling apparatus having contoured surfaces for providing orbital, rotational, and linear adjustment of a modular tool.
- the modular tooling apparatus of the present invention provides a base coupling connectable to a manipulator, wherein the base coupling has a first contoured surface.
- a locking member provides a second and third contoured surface wherein the second contoured surface is matingly and adjustably connected to the first contoured surface of the base coupling for rotational adjustment of the base coupling about a longitudinal axis.
- a modular tool having a fourth contoured surface is matingly and adjustably connected to the third contoured surface of the locking member to provide rotational adjustment of the modular tool about the longitudinal axis.
- FIG. 1 is a perspective view showing the modular tooling apparatus of the present invention
- FIG. 2 is an exploded view showing the modular tooling apparatus of the present invention
- FIG. 3 is a perspective view of a rack of the modular tooling apparatus of the present invention.
- FIG. 4 is a perspective view of a substantially T-shaped slide of the modular tooling apparatus of the present invention.
- FIG. 5 is a perspective view of the base coupling of the modular tooling apparatus of the present invention.
- FIG. 6 is a perspective view showing the contoured surface on a spacer of the modular tooling apparatus of the present invention.
- FIG. 7 is an exploded view showing the spacer and the contoured surfaces of the modular tooling apparatus of the present invention.
- FIG. 8 is a perspective view of the boom rod of the modular tooling apparatus of the present invention.
- FIG. 9 is a perspective of the telescopic boom rod or the modular tooling apparatus of the present invention.
- FIG. 10 is a perspective view of a second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a flange mount;
- FIG. 11 is a perspective view of the second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a quick disconnect;
- FIG. 12 is a front plan view of the second embodiment of the present invention showing the orbital adjustment of the modular tooling apparatus
- FIG. 13 is a perspective view of a third embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment;
- FIG. 14 is a perspective view of a fourth embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment;
- FIG. 15 is a perspective view of a fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly
- FIG. 16 is a right sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly
- FIG. 17 is a left sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly.
- the present invention provides a modular tooling apparatus 10 that provides orbital, rotational, and linear spatial adjustments to at least one conventional modular tool 12 connected to the modular tooling apparatus 10 .
- the modular tooling apparatus 10 may be connected to a male portion 14 of a quick disconnect (not shown) which in turn may be received by a female portion (not shown) of the quick disconnect.
- the female portion of the quick disconnect is connected to a manipulator, such as a robotic arm (not shown).
- the male portion 14 of the quick disconnect may be connected to a rack or mounting member 16 which in turn provides linear adjustment to a base coupling 18 that is releasably and adjustably connected to the rack 16 .
- a boom arm 20 may be releasably and adjustably connected to the base coupling 18 through mating contoured surfaces 22 formed between the base coupling 18 and the boom arm 20 .
- the boom arm 20 extends away from the base coupling 18 wherein a substantially 90° elbow coupling 24 is releasably and adjustably connected to the end of the boom arm 20 through a second set of contoured surfaces 26 .
- a telescopic boom arm 32 having a shovel arm 28 may then be connected to the elbow coupling 24 through the use of a third set of contoured surfaces 30 .
- the telescopic boom arm 32 provides linear and rotational adjustment of the shovel arm 28 along a longitudinal axis of the telescopic boom arm 32 .
- a modular tool 12 such as a shovel 34 may be connected to the end of the shovel arm 28 for engaging a work piece (not shown).
- Other modular tools 12 may include pneumatic grippers, pneumatic clamps, vacuum cups, and other material-handling devices. Similar assemblies comprising the same or different combinations of the base coupling 18 , the boom rod 20 , the elbow coupling 24 , the telescopic boom arm 32 , the shovel arm 28 , and the shovel 34 may be attached to the rack 16 , as previously described, so as to provide for the support and positioning of multiple modular tools 12 .
- the rack 16 is positioned and connected to the male portion 14 of the quick disconnect through the use of a conventional fastener 36 and a pair of dowel rods 38 .
- the rack 16 has a substantially rectangular configuration with a substantially T-shaped slot 40 extending the length of the rack 16 , as seen in FIGS. 1-3 .
- a side 42 of the rack 16 is open to the T-shaped slot 40 and has a contoured surface, such as serrated teeth 44 .
- the serrated teeth 44 extend substantially linearly on both sides of the T-shaped slot 40 along the entire length of the side 42 of the rack 16 .
- the rack 16 may be fabricated from a high strength, lightweight material, such as aluminum.
- a substantially T-shaped slide 46 matingly and slidingly engages the T-shaped slot 40 formed in the rack 16 , as seen in FIGS. 1-4 .
- the T-shaped slide 46 has a threaded aperture 47 formed therein for receiving a conventional fastener 48 which extends through an aperture 49 formed through a first side 50 to a second side 55 of the base coupling 18 , as seen in FIGS. 1-2 and 5 .
- the base coupling 18 has a substantially trapezoidal shape wherein the first side 50 of the base coupling 18 has two substantially parallel rows of serrated teeth 52 formed therein with a substantially rectangular recess 54 formed between the two rows of serrated teeth 52 .
- the rectangular recess 54 in the first side 50 of the base coupling 18 receives a portion of the T-shaped slide 46 provided in the rack 16 .
- the serrated teeth 52 on the base coupling 18 may be securely mated to the serrated teeth 44 provided on the rack 16 .
- a washer 56 and a spring 58 may be assembled to the fastener 48 for engaging the base coupling 18 such that the base coupling 18 is biased against the rack 16 .
- the spring biased force allows the base coupling 18 to maintain engagement with the rack 16 while the fastener 48 is loosened such that the base coupling 18 will not become disengaged from the rack 16 .
- the base coupling 18 may be adjusted linearly along a longitudinal axis of the rack 16 as shown by arrow 59 .
- the contoured surfaces 22 provide a tooth insert assembly 60 that is connected to and between a third side 59 of the base coupling 18 and one end of the boom arm 20 .
- the tooth insert assembly 60 includes a first tooth insert 62 having a substantially cylindrical configuration with a contoured surface, such as serrated teeth 64 , formed in a substantially circular configuration on one side of the first tooth insert 62 and facing away from the base coupling 18 , as seen in FIGS. 1-2 and 6-7 .
- An opposite side of the first tooth insert 62 is adjacent the third side 59 of the base coupling 18 and provides a projection 66 having a substantially oval configuration.
- the projection 66 on the first tooth insert 62 is received by a substantially oval recess 68 formed in the third side 59 of the base coupling 18 .
- the serrated teeth 64 of the first tooth insert 62 matingly engage a contoured surface, such as serrated teeth 70 , formed on one side of a substantially cylindrical spacer or locking member 72 of the tooth insert assembly 60 .
- the serrated teeth 70 on the spacer 72 are formed in a substantially circular manner as similarly described on the first tooth insert 62 .
- the spacer 72 also has another contoured surface, such as serrated teeth 74 , formed on the opposite side of the spacer 72 .
- the serrated teeth 74 are formed in a substantially circular manner, as similarly described with the serrated teeth 70 of the spacer 72 .
- the serrated teeth 74 of the spacer 72 matingly engage a contoured surface, such as serrated teeth 76 , formed on a second tooth insert 78 of the tooth insert assembly 60 .
- the second tooth insert 78 is similar to the first tooth insert 62 in that it also provides a substantially oval projection 80 extending from an opposite side of the second tooth insert 78 from that of the serrated teeth 76 .
- the oval projection 80 on the second tooth insert 78 is matingly received by a substantially oval recess 82 provided on one end of the boom arm 20 , as seen in FIGS. 1-2 and 8 .
- the boom arm 20 , the second tooth insert 78 , the spacer 72 , the first tooth insert 62 , and the third side of the base coupling 18 all provide apertures that are coaxially aligned along a common longitudinal axis 84 .
- a conventional fastener 86 extends along the axis 84 through the apertures of the boom arm 20 and the tooth insert assembly 60 and threads into a threaded aperture 87 provided in the base coupling 18 .
- the fastener 86 adjustably and releasably connects the boom arm 20 to the base coupling 18 through the use of the tooth insert assembly 60 .
- a tubular sleeve 89 extends through the tooth insert assembly 60 along the longitudinal axis 84 and receives the fastener 86 .
- a spring 88 and a washer 90 may be assembled to the fastener 86 so as to bias the boom arm 20 against the tooth insert assembly 60 thereby biasing the tooth insert assembly 60 against the base coupling 18 . This helps to secure the position of the boom arm 20 , relative to the tooth insert assembly 60 and relative to the base member 18 , upon the loosening of the fastener 86 .
- a spring 92 and snap ring 94 are also provided between the first tooth insert 62 and the spacer 72 of the tooth insert assembly 60 wherein the snap ring 94 is seated in a recess 95 of the sleeve 89 . The spring 92 biases the spacer 72 toward the second tooth insert 78 and away from the first tooth insert 62 . This helps maintain the position of the first tooth insert 62 , the spacer 72 , and the second tooth insert 78 upon the loosening of the fastener 86 .
- the serrated teeth 70 , 74 on opposite sides of the spacer 72 of the tooth insert assembly 60 are offset by 0.6°, as seen in FIGS. 6-7 .
- the serrated teeth 70 on the first side of the spacer 72 are spaced at 15° angles so as to provide twenty-four (24) teeth 70 about the substantially circular spacer 72 which matingly engage the serrated teeth 64 of the first tooth insert 62 of the tooth insert assembly 60 .
- the serrated teeth 74 on the opposite side of the spacer 72 are spaced at 14.4° angles, thereby providing a total of twenty-five (25) serrated teeth 74 on the opposite side of the circular spacer 72 .
- the serrated teeth 74 on the spacer 72 matingly engage the serrated teeth 76 provided on the second tooth insert 78 of the tooth insert assembly 60 .
- the offset angles on the spacer 72 of the tooth insert assembly 60 provide a multitude of rotational adjustments between the base coupling 18 and the boom arm 20 , as shown by arrow 97 .
- the spacer 72 has alphanumeric indicia 96 formed on the outer surface of the spacer 72 .
- the alphanumeric indicia 96 provide a different letter 98 at each root of the serrated teeth 74 on one side of the spacer 72 .
- a different number 100 is provided at every root of the serrated teeth 70 on the opposite side of the spacer 72 .
- a reference indicator 102 is provided on an outer surface of the first tooth insert 62 of the tooth insert assembly 60
- a second reference indicator 104 is provided on an outer surface of the second tooth insert 70 of the tooth insert assembly 60 .
- the reference indicators 102 , 104 are fabricated from a narrow piece of raised material attached to the outer surfaces of the first and second tooth inserts, 60 , 78 , respectively.
- rotational or orbital adjustment of the base coupling 18 relative to the boom arm 20 may be provided at every 0.6 degrees of rotational interval.
- the modular tooling apparatus 10 provides for six hundred (600) different incremental rotational adjustments of the base coupling 18 relative to the boom arm 20 .
- the reference indicator 104 on the second tooth insert 78 may be placed on any of the twenty-four (24) letters 98 (letters “I” and “O” have been eliminated in order not to cause confusion with the numerals “1” and “0”) to provide for twenty-four (24) different incremental positions when the reference indicator 102 on the first tooth insert 62 is on the number “1”.
- the reference indicator 104 on the second tooth insert 78 may be moved to any of the twenty-four (24) letters 98 on the second side of the spacer 72 to provide an additional twenty-four (24) incremental positions. This process may continue in order to realize all of the six hundred (600) positions of incremental adjustment.
- the end of the boom arm 20 opposite the base coupling 18 is connected to a tooth insert assembly 106 that is similar to the tooth insert assembly 60 . That is, the end of the boom arm 20 has a substantially oval recess 107 for matingly receiving a substantially oval projection provided on a first tooth insert of the tooth insert assembly 106 .
- the tooth insert assembly 106 is similarly connected to the 90° elbow coupling 24 in that the elbow coupling 24 provides a substantially oval recess for matingly receiving a substantially oval projection provided on a second tooth insert of the tooth insert assembly 106 .
- the elbow coupling 24 has a fastener 110 which extends through an aperture provided in a first side of the elbow coupling 24 and through the tooth insert assembly 106 .
- the fastener 110 also threads into a threaded aperture 108 provided in the end of the boom rod 20 .
- the elbow coupling 24 may be rotatably adjusted with respect to the boom arm 20 by rotating the serrated teeth within the tooth insert assembly 106 . Since the serrated teeth in tooth insert assembly 106 are offset, as described in tooth insert assembly 60 , the elbow coupling 24 will have 600 positions of rotational adjustment with respect to the boom arm 20 , as shown by arrow 111 .
- the opposite side of the elbow coupling 24 is connected to a tooth insert assembly 112 which is similar to the tooth insert assembly 60 previously described.
- the elbow coupling 24 provides a substantially oval recess that matingly receives a substantially oval projection provided on a first tooth insert of the tooth insert assembly 112 .
- the tooth insert assembly 112 is connected to the boom arm 32 by the boom arm 32 having a substantially oval recess 113 that matingly receives a substantially oval projection on the second tooth insert of the tooth insert assembly 112 , as seen in FIGS. 1-2 and 9 .
- a conventional fastener 114 extends through a coaxial aperture extending through the end of the boom arm 32 and through the tooth insert assembly 112 .
- the fastener 114 also extends and threads into a threaded aperture provided in the elbow coupling 108 in order to connect and secure the above listed elements.
- a spring 116 and a washer 118 may be assembled to the fastener 114 to bias the boom arm 32 toward the tooth insert assembly 112 , as previously described in the similar configurations.
- the serrated teeth in the tooth insert assembly 112 may be rotated relative to one another to allow for 600 rotational adjustments of the boom arm 32 relative to the elbow coupling 108 , as shown by arrow 120 .
- the boom arm 32 may have a telescopic adjustment wherein a first portion 122 of the boom arm 32 receives a second portion or the shovel arm 28 of the boom arm 32 .
- the first portion 122 of the boom arm 32 has a substantially cylindrical configuration with slots 126 extending through the walls at one end of the first portion 122 of the boom arm 32 .
- the slots 126 of the first portion 122 of the boom arm 32 allow the end of the first portion 122 to expand and receive the second portion 28 of the boom arm 32 .
- a clamp 128 extends over the slotted portion of the first portion 122 of the boom arm 32 .
- a conventional fastener 130 extends through apertures provided in a clamp 128 so as to releasably secure the second portion 28 of the boom arm 32 within the first portion 122 of the boom arm 32 .
- the clamp 128 is loosened by loosening the fastener 130
- the second portion 28 of the boom arm 32 may be rotated or adjusted linearly along the longitudinal axis of the boom arm 32 .
- the shovel 34 is connected to the end of the second portion 28 of the boom arm 32 through the use of a conventional fastener 132 .
- any form of modular tooling 12 may be connected to the boom arm 32 .
- the telescopic feature of the boom arm 32 allows for linear adjustment, as shown by arrow 134 , and rotational adjustment, as shown by arrow 136 , along and about the longitudinal axis of the boom arm 32 .
- the tooth insert assembly 60 may be utilized to provide multiple orbital adjustments of the modular tooling apparatus 10 .
- a quick disconnect 138 may be connected to a manipulator (not shown), such as a robotic arm or transfer rail/beam, or the modular tooling apparatus 10 may be connected to a manipulator by a flange mount 139 , as seen in FIG. 10 .
- the quick disconnect 138 has a female portion 140 that is connected to the manipulator through the use of conventional fasteners.
- a male portion 142 of the quick disconnect 138 is received by the female portion 140 of the quick disconnect 138 .
- the quick disconnect 138 may provide pneumatic and electrical connections between the female and male portions 140 , 142 of the quick disconnect 138 .
- a tooth insert assembly 144 is connected to the end of the male portion 142 of the quick disconnect 138 or to the flange mount 139 .
- the male portion 142 of the quick disconnect 138 as seen in FIGS. 11-12
- the flange mount 139 as seen in FIG. 10 , both have a substantially oval recess for receiving a substantially oval projection extending from a first tooth insert of the tooth insert assembly 144 .
- the tooth insert assembly 144 is also connected to linkage bar 146 through the use of a conventional fastener 148 .
- the fastener 148 extends through a coaxial aperture extending through the linkage bar 146 , the tooth insert assembly 144 , and the male portion 142 of the quick disconnect 138 of the flange mount 139 .
- Both the male portion 142 of the quick disconnect 138 and the flange mount 139 have threaded apertures for threadingly receiving the fastener 148 .
- a spring (not shown) and a washer (not shown) may also be connected to the fastener 148 , as previously described in a similar construction, so as to bias the linkage bar 146 toward the tooth insert assembly 144 .
- the tooth insert assembly 144 may be rotated to provide orbital adjustment of the linkage bar 146 , as shown by the rotational axis 150 in FIG. 12 , relative to the male portion 142 of the quick disconnect 138 . Since the serrated teeth of the tooth insert assembly 144 are offset as described in the tooth insert assembly 60 , the linkage bar 146 will have 600 incremental rotational adjustments relative to the quick disconnect 138 or flange mount 139 .
- the linkage bar 146 has a substantially rectangular configuration with rounded ends 152 at each end of the linkage bar 146 . Opposite the first end of the linkage bar 146 is a second end that is connected to a tooth insert assembly 154 which is similar to the tooth insert assembly 60 . That is, the linkage bar 146 has a substantially oval recess for matingly receiving a substantially oval projection on a first tooth insert on the tooth insert assembly 154 .
- the tooth insert assembly 154 connects the linkage bar 146 to a second similar linkage bar 156 having a similar configuration to that of the linkage bar 146 . That is, the linkage bar 156 has a substantially oval recess for receiving a substantially oval projection on a second tooth insert of the tooth insert assembly 154 .
- a conventional fastener 158 extends through a coaxial aperture extending through the linkage bar 146 , the tooth insert assembly 154 , and a first end of the linkage bar 156 where the fastener 158 threads into a threaded aperture provided in the first end linkage bar 156 .
- a spring (not shown) and a washer (not shown) may also be assembled to the fastener 158 , as previously described in similar configurations, wherein the linkage bar 156 is biased toward the tooth insert assembly 154 .
- the serrated teeth of the tooth insert assembly 154 may be rotated to provide 600 orbital adjustments of the linkage bar 156 relative to the linkage bar 146 due to the offset serrated teeth in the tooth insert assembly 154 , as previously described in the tooth insert assembly 60 .
- a second end of the linkage bar 156 which is opposite the first end of the linkage bar 156 , may have a telescopic boom arm 160 , as similarly described in the boom arm 32 , connected to the end of the linkage bar 156 .
- the second end of the linkage bar 156 has a substantially oval recess that receives a substantially oval projection provided on the boom arm 160 .
- a fastener extends through the second end of the linkage bar 156 and threaded into a threaded aperture in the boom arm 160 to secure the boom arm 160 to the linkage bar 156 .
- the linkage bar 156 in combination with the linkage bar 146 , may allow for orbital adjustment of the mounting tool 12 , as shown in radial axes 161 and 162 of FIG. 12 .
- the telescopic boom arm 160 also provides linear and rotational adjustment of the modular tool 12 , as previously described with the similar telescopic boom arm 32 .
- the modular tooling apparatus 10 provides a method for providing linear and orbital adjustment of the modular tooling 12 , as seen in FIGS. 13 and 14 .
- the modular tooling apparatus 10 provides a 90° elbow bracket 164 that is releasably and adjustably connected to a mounting rail 166 .
- the mounting rail 166 provides a substantially T-shaped slot 168 for receiving a substantially T-shaped slide 170 .
- the T-shaped slide 170 is captured within the T-shaped slot 168 of the mounting rail 166 such that the T-shaped slide 170 may slide along the T-shaped slot 168 of the mounting rail 166 .
- a conventional fastener 172 extends through an aperture provided in the 90° elbow bracket 164 and threads into a threaded aperture provided in the T-shaped slide 170 .
- the 90° elbow bracket 164 extends across the opening created by the T-shaped slot 166 in the mounting rail 166 such that when the fastener 172 is threaded into the threaded aperture of the T-shaped slide 170 , the T-shaped slide 170 and the 90° elbow bracket 164 tighten against the mounting rail 166 so as to secure the 90° elbow bracket 164 in a stationary position relative to the mounting rail 166 .
- the 90° elbow bracket 164 may be adjusted linearly along the longitudinal axis of the mounting rail 166 by sliding the T-shaped slide 170 along the mounting rail 166 , as shown by arrow 173 .
- the other end of the 90° elbow bracket 164 extends outward away from the mounting rail 166 and has an aperture extending there through for receiving a fastener 176 .
- the fastener 176 also extends through a pair of substantially circular disks 178 , 180 having opposing and mating serrated teeth 182 , 184 formed in a substantially circular configuration on each of the circular disks 178 , 180 .
- the fastener 176 extends through coaxial apertures extending through of the 90° elbow bracket 164 and through apertures provided in each of the circular disks 178 , 180 .
- the fastener 176 also extends into a substantially T-shaped slide 186 that is slidably captured within a substantially T-shaped slot 188 formed in a substantially rectangular linkage rail 190 .
- the T-shaped slide 186 and the circular disks 178 , 180 tighten against the linkage rail 190 so as to secure the 90° elbow bracket 164 in a fixed position relative to the linkage rail 190 .
- the T-shaped slide 186 is allowed to move linearly along the linkage rail 190
- the circular disk 178 , 180 are allowed to rotate relative to one another so as to allow the linkage rail 190 to rotate relative to the mounting rail 166 , as indicated by arrow 192 .
- the circular disks 178 , 180 do not include a spacer having serrated teeth there between, it should be known that the present invention anticipates using a tooth insert assembly 60 in the present embodiment, as previously described.
- the modular tooling apparatus 10 provides an additional linkage rail 194 that is similar to the linkage rail 190 .
- the linkage rail 194 also provides a T-shaped slot 196 and a substantially T-shaped slide (not shown) similar to that previously described in the linkage rail 190 .
- a pair of circular disks 200 , 202 similar to disks 178 , 180 , between the linkage rails 190 , 194 are also provided with each disk 200 , 202 having a circular array of serrated teeth 204 , 206 .
- the circular disk 200 is mounted adjacent the T-shaped slide provided in the linkage rail 194
- the circular disk 202 is mounted adjacent the T-shaped slot 188 of the linkage rail 190
- a conventional fastener 210 extends coaxially through apertures provided in the T-shaped slide 208 , the circular disk 200 , 202 , and the substantially T-shaped slide 198 provided in the linkage rail 194 .
- the T-shaped slide may slide along the linkage rail 194 to provide linear adjustment along the mounting rail 194 , as indicated by arrow 198 .
- the circular disks 200 , 202 may also rotate relative to one another thereby providing rotational or orbital adjustment of the linkage rail 194 relative to the linkage rail 190 , as indicated by arrow 212 .
- the fastener 210 is tightened, the circular disks 200 , 202 and substantially T-shaped slides 198 , 208 are secured in a fixed position relative to the linkage rails 194 , 190 .
- the linkage rail 194 cannot be adjusted linearly along the linkage rail 190 .
- a 90° elbow bracket 214 is utilized at one end of the linkage rail 194 , as seen in FIG. 13 .
- the 90° elbow bracket 214 has a pair of circular disks 216 , 218 mounted between the 90° elbow bracket 214 and the linkage rail 194 .
- Each of the circular disks 216 , 218 have a circular array of mating serrated teeth 220 , 222 similar to disks 178 , 180 .
- the circular disk 218 is mounted adjacent a substantially T-shaped slot 196 provided in the linkage rail 194 .
- a conventional fastener 226 extends coaxially through an aperture provided in the mounting rail 194 , through the T-shaped slide 224 , the circular disks 216 , 218 , and the 90° elbow bracket 214 . Again, no T-shaped slide is utilized due to the fastener 226 extending through the linkage rail 194 . However, when the fastener 226 is loosened, the serrated disk 216 , 218 may rotate relative to one another thereby providing rotational adjustment of the modular tooling 12 relative to the linkage rail 194 , as indicated by arrow 227 .
- an opposite end of the 90° elbow bracket 214 provides a substantially circular disk 228 having a circular array of serrated teeth 230 formed thereon.
- the modular tool 12 has a mounting bracket 232 connected to the modular tool 12 by four conventional fasteners 234 .
- the mounting bracket 232 also has a circular array of serrated teeth 236 mounted thereon for matingly engaging the serrated teeth 230 provided on the circular disk 228 of the 90° elbow bracket 214 .
- a conventional fastener (not shown) extends coaxially through an aperture provided in the 90° elbow bracket 214 , the circular disk 228 , and the mounting bracket 232 .
- the serrated teeth 230 , 236 may be allowed to rotate relative to one another to provide for rotational adjustment of the modular tool 12 , as indicated by an arrow 240 .
- the serrated teeth 230 , 236 are matingly secured against one another thereby allowing the modular tool 12 to be maintained in a stationary position relative to the 90° elbow bracket.
- an additional linkage rail 242 may be connected to linkage rail 194 before connecting the elbow coupling 214 to the modular tool 12 .
- the same construction as linkage members 190 and 194 is utilized to provide the modular tooling apparatus with an additional degree of orbital and linear adjustment of the modular tool.
- the tooth insert assembly 60 can be replaced in a modular tooling apparatus 300 by a locking cap assembly 302 , as shown in FIG. 15 .
- the locking cap assembly 302 may be utilized to assist in connecting the modular tool 12 to a quick disconnect, as similarly described in previous embodiments, while providing orbital and rotational adjustment of the modular tool 12 .
- the locking cap assembly 302 is similar to the tooth insert assembly 60 in that two sets of contoured surfaces having serrated teeth with different number of teeth are employed to achieve fine positional control and ease of adjustment of the locking cap assembly 302 ; however, the methods of adjustment are different from those of the tooth insert assembly 60 .
- FIGS. 16 and 17 show exploded views of the locking cap assembly 302 , which includes a mounting member or base coupling 304 having a substantially cylindrical extension 306 having a face with four slots 308 formed therein along a longitudinal axis 310 .
- the mounting member 304 may be connected to a boom rod, coupling, and/or quick disconnect which in turn is connected to a manipulator.
- the locking cap assembly 302 also includes a moveable member 312 which in turn is connected to the modular tool 12 .
- the moveable member 304 has an aperture 314 extending there through for rotatably receiving the cylindrical extension 306 of the mounting member 304 .
- the moveable member 304 has a contoured surface having serrated teeth 316 radially formed therein in a substantially cylindrical manner.
- the mounting member 304 also has a substantially cylindrical base member 318 having four tabs 320 formed on one end of the base member 318 that matingly engage the slots 308 of the cylindrical extension 306 of the mounting member 304 in a fixed relationship.
- the base member 318 is also partially received within the aperture 314 provided in the moveable member 304 .
- the base member 318 also a contoured surface having serrated teeth 322 radially formed in a substantial cylindrical and extending from the opposite end of the base member 318 from the tabs 320 .
- the serrated teeth 322 of the base member 318 fit within the serrated teeth 316 of the moveable member 312 without interfering with its movement.
- the locking cap assembly 302 further includes a substantially cylindrical locking cap or locking member 326 having one contoured surface of serrated teeth 328 and a second contoured surface of serrated teeth 330 formed on one end of the locking cap 326 .
- the serrated teeth 328 , 330 are radially formed therein in a substantial cylindrical manner and are coaxially aligned and concentric with one another wherein serrated teeth 330 has a larger diameter than serrated teeth 328 .
- the locking cap 326 is releasably engageable to locking cap assembly 302 by a conventional fastener 332 which passes through appropriately sized apertures in locking cap 326 , spacers 324 , moveable member 312 and base member 318 to be attached to a threaded aperture 334 in the mounting member 304 along the longitudinal axis 310 .
- the fastener 332 is threaded into the threaded aperture 334 causing the locking cap 326 to engage the serrated teeth 328 on the locking cap 326 with the serrated teeth 322 of the base member 318 and engage the serrated teeth 330 of the locking cap 326 with the serrated teeth 316 of the moveable member 312 .
- the engagement of the first slots 308 and the second tabs 320 , the serrated teeth 322 , 328 , and the serrated teeth 316 , 330 prevent mounting member 304 from moving in relation to the moveable member 312 .
- the fastener 332 is threadingly loosened to permit disengagement of the serrated teeth 328 in the locking cap 326 from the serrated teeth 322 on the base member 318 and the serrated teeth 330 of the locking cap 326 from the serrated teeth 316 of the moveable member 312 without removing the fastener 332 completely from the threaded aperture 334 .
- the mounting member 304 and the moveable member 312 are then free to move in relation to each other about the longitudinal axis 310 . Adjustment can be accomplished by an operator manipulating the mounting member 304 and the moveable member 312 by hand to the desired position.
- the locking cap 326 can be then rotated about the longitudinal axis 310 to find a location where the serrated teeth 328 of the locking cap 326 can engage the serrated teeth 322 of the base member 318 and the serrated teeth 330 of the locking cap 326 can engage the serrated teeth 316 of the moveable member 312 , simultaneously. This is possible since the combination of unequal numbers of serrated teeth on the contoured surfaces provides adjustment to within about 0.6 degrees by rotating the locking cap 326 with respect to the serrated teeth 322 of the base member 318 and the serrated teeth 316 of the moveable member 312 .
- the locking cap assembly 302 can then fix the relative position of the mounting member 304 and the moveable member 312 in this position by threadingly tightening the fastener 332 , thereby maintaining the adjusted relationship between the mounting member 304 and the moveable member 312 .
- the angular resolution at which the locking cap assembly 302 can fix the moveable member 312 and the mounting member 304 is a function of the ratio of the first and second numbers of teeth. For example, if the serrated teeth 328 , 322 have 24 teeth and the serrated teeth 330 , 316 have 25 teeth, the angular resolution of the locking cap assembly 302 is about 0.6 degrees yielding 600 different positions at which the locking cap assembly 302 can be set within its 360° rotation.
- the locking cap 326 is rotated until the best fit between the serrated teeth 328 , 322 , 330 , 316 is found.
- Different embodiments of the locking cap assembly 302 can also include a biasing element which helps to maintain engagement of appropriate contoured surfaces during the adjustment process. Inclusion of springs through which the fastener 332 passes on the longitudinal axis 310 between the fastener 332 and the locking cap 326 can cause the locking cap 326 to be biased against the moveable member 312 and the base member 318 unless a user is actively disengaging the locking cap 326 .
- the modular tooling apparatus 10 of the present invention is assembled in a manner that allows the modular tooling 12 to reach and engage the appropriate work piece when manipulated by the manipulator.
- the modular tooling apparatus 300 may be adjusted linearly and orbitally to allow the modular tooling 12 to be in a proper position relative to the work piece.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
- Clamps And Clips (AREA)
- Manipulator (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Machine Tool Units (AREA)
Abstract
A modular tooling apparatus providing orbital adjustment of a modular tool. The modular tooling apparatus includes a base coupling, a first linkage member, and a second linkage member. The base coupling is connectible to a manipulator. The first linkage member is adjustably connected to the base coupling for rotational adjustment about a first axis. The second linkage member is adjustably connected to the first linkage member for rotational adjustment about a second axis. The rotational adjustment of the first linkage member about the first axis and the rotational adjustment of the second linkage member about the second axis combine to provide more orbital positions than the rotational adjustment of the first linkage member about the first axis or the rotational adjustment of the second linkage member about the second axis.
Description
- This application claims priority to U.S. Provisional Patent Application Ser. No. 61/440,464, which was filed on Feb. 8, 2011.
- The present invention relates to a modular tooling apparatus having orbital and linear adjustments, and in particular, a modular tooling apparatus having serrated teeth that provide for accurate and repetitive orbital, rotational, and linear adjustment of modular tooling connected to the modular tooling apparatus.
- With the advent of mechanical manipulators and robotic arms, various tooling assemblies and work piece handling devices have been designed to quickly connect and disconnect to mechanical manipulators and robotic arms so that a variety of modular tooling assemblies can be utilized with the same manipulator. Flexibility and adjustability are preferably designed into the tooling assemblies so that the tooling assemblies can be configured for a variety of work piece configurations. Previous tooling assemblies have utilized various sections of tubing interconnected by various brackets and mounts for fixturing a variety of work pieces, but such designs are typically rigid and provide little or no adjustment in the tooling assembly. Other designs have utilized extrusions or slide mounts to allow the sections of tubing to be adjusted along a linear path of travel, but such designs have a limited amount of flexibility, as they provide only one degree or axis of adjustment.
- Other known designs have utilized ball mounts to provide rotational or orbital adjustment of the tubing. Such ball mounts typically provide a bracket that receives and clamps a spherical ball through the use of the bracket and a conventional fastener. Due to the configuration of the clamps, such ball mounts typically do not provide 360° rotational movement. In addition, these designs are susceptible to slipping, especially when such tooling mounts are exposed to various grease and oils, as well as random forces that are common in an industrial environment. If the ball mount slips, the work piece-handling boom may become misaligned with respect to the work piece thereby requiring the workstation to be shut down and readjusted. These shut downs create inefficiencies that are undesirable in an industrial environment.
- Other modular tooling apparatuses have utilized opposing serrated teeth to provide rotational or orbital adjustment of a first and second coupling about an axis of rotation. The serrated teeth provide predetermined rotational adjustment of the first and second couplings relative to one another while assuring that the couplings will not rotate or slip with respect to one another when the serrated teeth are engaged in a tightened position. A disadvantage to the serrated teeth is that they provide a predetermined number of set positions, thereby limiting the possible positions of the modular tooling apparatus. Another disadvantage in the serrated teeth adjustment is that the serrated teeth must be completely disengaged from one another in order to adjust the position of the couplings. Thus, adjusting the couplings by rotating the serrated teeth relative to one another can be a rather cumbersome and difficult task. Since there may be several pieces of modular tooling connected to the serrated teeth, it may become even more difficult to adjust the positioning of the serrated teeth, especially in an industrial environment. Such difficulties cause inefficiencies that are undesirable in an industrial environment.
- It would be desirable to provide a modular tooling apparatus that provides a quick and simple adjustment mechanism for providing numerous, multi-axis adjustments of a modular tool without the risk of the modular tooling apparatus slipping and misaligning.
- The present invention provides a modular tooling apparatus having contoured surfaces for providing orbital, rotational, and linear adjustment of a modular tool. The modular tooling apparatus of the present invention provides a base coupling connectable to a manipulator, wherein the base coupling has a first contoured surface. A locking member provides a second and third contoured surface wherein the second contoured surface is matingly and adjustably connected to the first contoured surface of the base coupling for rotational adjustment of the base coupling about a longitudinal axis. A modular tool having a fourth contoured surface is matingly and adjustably connected to the third contoured surface of the locking member to provide rotational adjustment of the modular tool about the longitudinal axis.
- The various other uses of the present invention will become more apparent by referring to the following detailed description and drawings in which:
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FIG. 1 is a perspective view showing the modular tooling apparatus of the present invention; -
FIG. 2 is an exploded view showing the modular tooling apparatus of the present invention; -
FIG. 3 is a perspective view of a rack of the modular tooling apparatus of the present invention; -
FIG. 4 is a perspective view of a substantially T-shaped slide of the modular tooling apparatus of the present invention; -
FIG. 5 is a perspective view of the base coupling of the modular tooling apparatus of the present invention; -
FIG. 6 is a perspective view showing the contoured surface on a spacer of the modular tooling apparatus of the present invention; -
FIG. 7 is an exploded view showing the spacer and the contoured surfaces of the modular tooling apparatus of the present invention; -
FIG. 8 is a perspective view of the boom rod of the modular tooling apparatus of the present invention; -
FIG. 9 is a perspective of the telescopic boom rod or the modular tooling apparatus of the present invention; -
FIG. 10 is a perspective view of a second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a flange mount; -
FIG. 11 is a perspective view of the second embodiment of the present invention showing an orbital adjustment of the modular tooling apparatus connected to a quick disconnect; -
FIG. 12 is a front plan view of the second embodiment of the present invention showing the orbital adjustment of the modular tooling apparatus; -
FIG. 13 is a perspective view of a third embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment; -
FIG. 14 is a perspective view of a fourth embodiment of the modular tooling apparatus of the present invention having orbital and linear adjustment; -
FIG. 15 is a perspective view of a fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly; -
FIG. 16 is a right sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly; and -
FIG. 17 is a left sided exploded view of the fifth embodiment of the modular tooling apparatus of the present invention having a locking cap assembly. - The present invention provides a
modular tooling apparatus 10 that provides orbital, rotational, and linear spatial adjustments to at least one conventionalmodular tool 12 connected to themodular tooling apparatus 10. As seen inFIGS. 1 and 2 , themodular tooling apparatus 10 may be connected to amale portion 14 of a quick disconnect (not shown) which in turn may be received by a female portion (not shown) of the quick disconnect. The female portion of the quick disconnect is connected to a manipulator, such as a robotic arm (not shown). Themale portion 14 of the quick disconnect may be connected to a rack or mountingmember 16 which in turn provides linear adjustment to abase coupling 18 that is releasably and adjustably connected to therack 16. Aboom arm 20 may be releasably and adjustably connected to thebase coupling 18 through matingcontoured surfaces 22 formed between thebase coupling 18 and theboom arm 20. Theboom arm 20 extends away from thebase coupling 18 wherein a substantially 90°elbow coupling 24 is releasably and adjustably connected to the end of theboom arm 20 through a second set ofcontoured surfaces 26. Atelescopic boom arm 32 having ashovel arm 28 may then be connected to theelbow coupling 24 through the use of a third set ofcontoured surfaces 30. Thetelescopic boom arm 32 provides linear and rotational adjustment of theshovel arm 28 along a longitudinal axis of thetelescopic boom arm 32. Amodular tool 12, such as ashovel 34, may be connected to the end of theshovel arm 28 for engaging a work piece (not shown). Othermodular tools 12 may include pneumatic grippers, pneumatic clamps, vacuum cups, and other material-handling devices. Similar assemblies comprising the same or different combinations of thebase coupling 18, theboom rod 20, theelbow coupling 24, thetelescopic boom arm 32, theshovel arm 28, and theshovel 34 may be attached to therack 16, as previously described, so as to provide for the support and positioning of multiplemodular tools 12. - In order to provide the
modular tooling apparatus 10 with a first degree of linear adjustment, therack 16 is positioned and connected to themale portion 14 of the quick disconnect through the use of aconventional fastener 36 and a pair ofdowel rods 38. Therack 16 has a substantially rectangular configuration with a substantially T-shaped slot 40 extending the length of therack 16, as seen inFIGS. 1-3 . Aside 42 of therack 16 is open to the T-shaped slot 40 and has a contoured surface, such asserrated teeth 44. Theserrated teeth 44 extend substantially linearly on both sides of the T-shaped slot 40 along the entire length of theside 42 of therack 16. Therack 16 may be fabricated from a high strength, lightweight material, such as aluminum. - To allow for linear adjustment of the
base coupling 18 relative to therack 16, a substantially T-shapedslide 46 matingly and slidingly engages the T-shapedslot 40 formed in therack 16, as seen inFIGS. 1-4 . The T-shapedslide 46 has a threadedaperture 47 formed therein for receiving a conventional fastener 48 which extends through anaperture 49 formed through afirst side 50 to asecond side 55 of thebase coupling 18, as seen inFIGS. 1-2 and 5 . Thebase coupling 18 has a substantially trapezoidal shape wherein thefirst side 50 of thebase coupling 18 has two substantially parallel rows ofserrated teeth 52 formed therein with a substantiallyrectangular recess 54 formed between the two rows ofserrated teeth 52. Therectangular recess 54 in thefirst side 50 of thebase coupling 18 receives a portion of the T-shapedslide 46 provided in therack 16. By threading the fastener 48 through theaperture 49 of thebase coupling 18 and into the threadedaperture 47 provided in the T-shapedslide 46 of therack 16, theserrated teeth 52 on thebase coupling 18 may be securely mated to theserrated teeth 44 provided on therack 16. Awasher 56 and aspring 58 may be assembled to the fastener 48 for engaging thebase coupling 18 such that thebase coupling 18 is biased against therack 16. The spring biased force allows thebase coupling 18 to maintain engagement with therack 16 while the fastener 48 is loosened such that thebase coupling 18 will not become disengaged from therack 16. Once the fastener 48 is loosened, the user need only pull thebase coupling 18 against the biasing force of thespring 58 in order to disengage theserrated teeth 52 of thebase coupling 18 from theserrated teeth 44 of therack 16 so as to linearly adjust the position of thebase coupling 18 relative to therack 16. Thus, thebase coupling 18 may be adjusted linearly along a longitudinal axis of therack 16 as shown byarrow 59. - In order to provide orbital adjustment of the
boom arm 20 relative to thebase coupling 18, thecontoured surfaces 22 provide atooth insert assembly 60 that is connected to and between athird side 59 of thebase coupling 18 and one end of theboom arm 20. Thetooth insert assembly 60 includes afirst tooth insert 62 having a substantially cylindrical configuration with a contoured surface, such asserrated teeth 64, formed in a substantially circular configuration on one side of thefirst tooth insert 62 and facing away from thebase coupling 18, as seen inFIGS. 1-2 and 6-7 . An opposite side of thefirst tooth insert 62 is adjacent thethird side 59 of thebase coupling 18 and provides aprojection 66 having a substantially oval configuration. Theprojection 66 on thefirst tooth insert 62 is received by a substantiallyoval recess 68 formed in thethird side 59 of thebase coupling 18. Theserrated teeth 64 of thefirst tooth insert 62 matingly engage a contoured surface, such asserrated teeth 70, formed on one side of a substantially cylindrical spacer or lockingmember 72 of thetooth insert assembly 60. Theserrated teeth 70 on thespacer 72 are formed in a substantially circular manner as similarly described on thefirst tooth insert 62. Thespacer 72 also has another contoured surface, such asserrated teeth 74, formed on the opposite side of thespacer 72. Theserrated teeth 74 are formed in a substantially circular manner, as similarly described with theserrated teeth 70 of thespacer 72. Theserrated teeth 74 of thespacer 72 matingly engage a contoured surface, such asserrated teeth 76, formed on asecond tooth insert 78 of thetooth insert assembly 60. Thesecond tooth insert 78 is similar to thefirst tooth insert 62 in that it also provides a substantiallyoval projection 80 extending from an opposite side of thesecond tooth insert 78 from that of theserrated teeth 76. Theoval projection 80 on thesecond tooth insert 78 is matingly received by a substantiallyoval recess 82 provided on one end of theboom arm 20, as seen inFIGS. 1-2 and 8 . Theboom arm 20, thesecond tooth insert 78, thespacer 72, thefirst tooth insert 62, and the third side of thebase coupling 18 all provide apertures that are coaxially aligned along a commonlongitudinal axis 84. Aconventional fastener 86 extends along theaxis 84 through the apertures of theboom arm 20 and thetooth insert assembly 60 and threads into a threadedaperture 87 provided in thebase coupling 18. Thefastener 86 adjustably and releasably connects theboom arm 20 to thebase coupling 18 through the use of thetooth insert assembly 60. Atubular sleeve 89 extends through thetooth insert assembly 60 along thelongitudinal axis 84 and receives thefastener 86. Aspring 88 and awasher 90 may be assembled to thefastener 86 so as to bias theboom arm 20 against thetooth insert assembly 60 thereby biasing thetooth insert assembly 60 against thebase coupling 18. This helps to secure the position of theboom arm 20, relative to thetooth insert assembly 60 and relative to thebase member 18, upon the loosening of thefastener 86. Aspring 92 andsnap ring 94 are also provided between thefirst tooth insert 62 and thespacer 72 of thetooth insert assembly 60 wherein thesnap ring 94 is seated in arecess 95 of thesleeve 89. Thespring 92 biases thespacer 72 toward thesecond tooth insert 78 and away from thefirst tooth insert 62. This helps maintain the position of thefirst tooth insert 62, thespacer 72, and thesecond tooth insert 78 upon the loosening of thefastener 86. - To provide incremental adjustment of the
base coupling 18 relative to theboom arm 20, theserrated teeth spacer 72 of thetooth insert assembly 60 are offset by 0.6°, as seen inFIGS. 6-7 . Thus, theserrated teeth 70 on the first side of thespacer 72 are spaced at 15° angles so as to provide twenty-four (24)teeth 70 about the substantiallycircular spacer 72 which matingly engage theserrated teeth 64 of thefirst tooth insert 62 of thetooth insert assembly 60. Theserrated teeth 74 on the opposite side of thespacer 72 are spaced at 14.4° angles, thereby providing a total of twenty-five (25)serrated teeth 74 on the opposite side of thecircular spacer 72. Theserrated teeth 74 on thespacer 72 matingly engage theserrated teeth 76 provided on thesecond tooth insert 78 of thetooth insert assembly 60. The offset angles on thespacer 72 of thetooth insert assembly 60 provide a multitude of rotational adjustments between thebase coupling 18 and theboom arm 20, as shown byarrow 97. - In order to have a reference as to the position of the
base coupling 18 and theboom arm 30, thespacer 72 hasalphanumeric indicia 96 formed on the outer surface of thespacer 72. Thealphanumeric indicia 96 provide adifferent letter 98 at each root of theserrated teeth 74 on one side of thespacer 72. Adifferent number 100 is provided at every root of theserrated teeth 70 on the opposite side of thespacer 72. Areference indicator 102 is provided on an outer surface of thefirst tooth insert 62 of thetooth insert assembly 60, and asecond reference indicator 104 is provided on an outer surface of thesecond tooth insert 70 of thetooth insert assembly 60. Thereference indicators - By having the
serrated teeth spacer 72 spaced at 15° intervals on the first side of thespacer 72 and at 14.4° intervals on the second side of thespacer 72, rotational or orbital adjustment of thebase coupling 18 relative to theboom arm 20 may be provided at every 0.6 degrees of rotational interval. Thus, themodular tooling apparatus 10 provides for six hundred (600) different incremental rotational adjustments of thebase coupling 18 relative to theboom arm 20. For instance, by placing thereference indicator 102 on thefirst tooth insert 62 on the numeral “1” on the first side of thespacer 72, thereference indicator 104 on thesecond tooth insert 78 may be placed on any of the twenty-four (24) letters 98 (letters “I” and “O” have been eliminated in order not to cause confusion with the numerals “1” and “0”) to provide for twenty-four (24) different incremental positions when thereference indicator 102 on thefirst tooth insert 62 is on the number “1”. When thereference indicator 102 on thefirst tooth insert 62 is placed on the number “2” on the first side of thespacer 72, thereference indicator 104 on thesecond tooth insert 78 may be moved to any of the twenty-four (24)letters 98 on the second side of thespacer 72 to provide an additional twenty-four (24) incremental positions. This process may continue in order to realize all of the six hundred (600) positions of incremental adjustment. - In order to further extend the
modular tooling 12, the end of theboom arm 20 opposite thebase coupling 18 is connected to atooth insert assembly 106 that is similar to thetooth insert assembly 60. That is, the end of theboom arm 20 has a substantiallyoval recess 107 for matingly receiving a substantially oval projection provided on a first tooth insert of thetooth insert assembly 106. Thetooth insert assembly 106 is similarly connected to the 90°elbow coupling 24 in that theelbow coupling 24 provides a substantially oval recess for matingly receiving a substantially oval projection provided on a second tooth insert of thetooth insert assembly 106. Theelbow coupling 24 has afastener 110 which extends through an aperture provided in a first side of theelbow coupling 24 and through thetooth insert assembly 106. Thefastener 110 also threads into a threaded aperture 108 provided in the end of theboom rod 20. By loosening thefastener 110, theelbow coupling 24 may be rotatably adjusted with respect to theboom arm 20 by rotating the serrated teeth within thetooth insert assembly 106. Since the serrated teeth intooth insert assembly 106 are offset, as described intooth insert assembly 60, theelbow coupling 24 will have 600 positions of rotational adjustment with respect to theboom arm 20, as shown byarrow 111. - To connect the
telescopic boom arm 32 to theelbow coupling 24, the opposite side of theelbow coupling 24 is connected to a tooth insert assembly 112 which is similar to thetooth insert assembly 60 previously described. Thus, theelbow coupling 24 provides a substantially oval recess that matingly receives a substantially oval projection provided on a first tooth insert of the tooth insert assembly 112. The tooth insert assembly 112 is connected to theboom arm 32 by theboom arm 32 having a substantiallyoval recess 113 that matingly receives a substantially oval projection on the second tooth insert of the tooth insert assembly 112, as seen inFIGS. 1-2 and 9 . Aconventional fastener 114 extends through a coaxial aperture extending through the end of theboom arm 32 and through the tooth insert assembly 112. Thefastener 114 also extends and threads into a threaded aperture provided in the elbow coupling 108 in order to connect and secure the above listed elements. Aspring 116 and awasher 118 may be assembled to thefastener 114 to bias theboom arm 32 toward the tooth insert assembly 112, as previously described in the similar configurations. By loosening thefastener 114, the serrated teeth in the tooth insert assembly 112 may be rotated relative to one another to allow for 600 rotational adjustments of theboom arm 32 relative to the elbow coupling 108, as shown byarrow 120. - To provide further linear and rotational adjustment of the
modular tooling 12, theboom arm 32 may have a telescopic adjustment wherein afirst portion 122 of theboom arm 32 receives a second portion or theshovel arm 28 of theboom arm 32. Thefirst portion 122 of theboom arm 32 has a substantially cylindrical configuration withslots 126 extending through the walls at one end of thefirst portion 122 of theboom arm 32. Theslots 126 of thefirst portion 122 of theboom arm 32 allow the end of thefirst portion 122 to expand and receive thesecond portion 28 of theboom arm 32. Aclamp 128 extends over the slotted portion of thefirst portion 122 of theboom arm 32. Aconventional fastener 130 extends through apertures provided in aclamp 128 so as to releasably secure thesecond portion 28 of theboom arm 32 within thefirst portion 122 of theboom arm 32. When theclamp 128 is loosened by loosening thefastener 130, thesecond portion 28 of theboom arm 32 may be rotated or adjusted linearly along the longitudinal axis of theboom arm 32. Theshovel 34 is connected to the end of thesecond portion 28 of theboom arm 32 through the use of aconventional fastener 132. As previously noted, any form ofmodular tooling 12 may be connected to theboom arm 32. Thus, the telescopic feature of theboom arm 32 allows for linear adjustment, as shown byarrow 134, and rotational adjustment, as shown byarrow 136, along and about the longitudinal axis of theboom arm 32. - In another embodiment, the
tooth insert assembly 60, as previously described, may be utilized to provide multiple orbital adjustments of themodular tooling apparatus 10. As seen inFIGS. 11-12 , aquick disconnect 138 may be connected to a manipulator (not shown), such as a robotic arm or transfer rail/beam, or themodular tooling apparatus 10 may be connected to a manipulator by aflange mount 139, as seen inFIG. 10 . As seen inFIGS. 11-12 , thequick disconnect 138 has afemale portion 140 that is connected to the manipulator through the use of conventional fasteners. Amale portion 142 of thequick disconnect 138 is received by thefemale portion 140 of thequick disconnect 138. Thequick disconnect 138 may provide pneumatic and electrical connections between the female andmale portions quick disconnect 138. - To connect the
modular tooling apparatus 10 to thequick disconnect 138, as seen inFIGS. 11-12 , or to theflange mount 139 as seen inFIG. 10 , atooth insert assembly 144, similar to thetooth insert assembly 60 previously described, is connected to the end of themale portion 142 of thequick disconnect 138 or to theflange mount 139. Themale portion 142 of thequick disconnect 138, as seen inFIGS. 11-12 , and theflange mount 139, as seen inFIG. 10 , both have a substantially oval recess for receiving a substantially oval projection extending from a first tooth insert of thetooth insert assembly 144. Thetooth insert assembly 144 is also connected tolinkage bar 146 through the use of aconventional fastener 148. Thefastener 148 extends through a coaxial aperture extending through thelinkage bar 146, thetooth insert assembly 144, and themale portion 142 of thequick disconnect 138 of theflange mount 139. Both themale portion 142 of thequick disconnect 138 and theflange mount 139 have threaded apertures for threadingly receiving thefastener 148. A spring (not shown) and a washer (not shown) may also be connected to thefastener 148, as previously described in a similar construction, so as to bias thelinkage bar 146 toward thetooth insert assembly 144. By loosening thefastener 148, thetooth insert assembly 144 may be rotated to provide orbital adjustment of thelinkage bar 146, as shown by therotational axis 150 inFIG. 12 , relative to themale portion 142 of thequick disconnect 138. Since the serrated teeth of thetooth insert assembly 144 are offset as described in thetooth insert assembly 60, thelinkage bar 146 will have 600 incremental rotational adjustments relative to thequick disconnect 138 orflange mount 139. - The
linkage bar 146 has a substantially rectangular configuration withrounded ends 152 at each end of thelinkage bar 146. Opposite the first end of thelinkage bar 146 is a second end that is connected to atooth insert assembly 154 which is similar to thetooth insert assembly 60. That is, thelinkage bar 146 has a substantially oval recess for matingly receiving a substantially oval projection on a first tooth insert on thetooth insert assembly 154. Thetooth insert assembly 154 connects thelinkage bar 146 to a secondsimilar linkage bar 156 having a similar configuration to that of thelinkage bar 146. That is, thelinkage bar 156 has a substantially oval recess for receiving a substantially oval projection on a second tooth insert of thetooth insert assembly 154. Aconventional fastener 158 extends through a coaxial aperture extending through thelinkage bar 146, thetooth insert assembly 154, and a first end of thelinkage bar 156 where thefastener 158 threads into a threaded aperture provided in the firstend linkage bar 156. A spring (not shown) and a washer (not shown) may also be assembled to thefastener 158, as previously described in similar configurations, wherein thelinkage bar 156 is biased toward thetooth insert assembly 154. When thefastener 158 is loosened, the serrated teeth of thetooth insert assembly 154 may be rotated to provide 600 orbital adjustments of thelinkage bar 156 relative to thelinkage bar 146 due to the offset serrated teeth in thetooth insert assembly 154, as previously described in thetooth insert assembly 60. - In order to provide orbital rotational and linear adjustment to the
modular tool 12, a second end of thelinkage bar 156, which is opposite the first end of thelinkage bar 156, may have atelescopic boom arm 160, as similarly described in theboom arm 32, connected to the end of thelinkage bar 156. The second end of thelinkage bar 156 has a substantially oval recess that receives a substantially oval projection provided on theboom arm 160. A fastener extends through the second end of thelinkage bar 156 and threaded into a threaded aperture in theboom arm 160 to secure theboom arm 160 to thelinkage bar 156. Thus, thelinkage bar 156, in combination with thelinkage bar 146, may allow for orbital adjustment of the mountingtool 12, as shown inradial axes FIG. 12 . Thetelescopic boom arm 160 also provides linear and rotational adjustment of themodular tool 12, as previously described with the similartelescopic boom arm 32. - In yet another embodiment, the
modular tooling apparatus 10 provides a method for providing linear and orbital adjustment of themodular tooling 12, as seen inFIGS. 13 and 14 . Themodular tooling apparatus 10 provides a 90°elbow bracket 164 that is releasably and adjustably connected to a mountingrail 166. The mountingrail 166 provides a substantially T-shapedslot 168 for receiving a substantially T-shapedslide 170. The T-shapedslide 170 is captured within the T-shapedslot 168 of the mountingrail 166 such that the T-shapedslide 170 may slide along the T-shapedslot 168 of the mountingrail 166. Aconventional fastener 172 extends through an aperture provided in the 90°elbow bracket 164 and threads into a threaded aperture provided in the T-shapedslide 170. The 90°elbow bracket 164 extends across the opening created by the T-shapedslot 166 in the mountingrail 166 such that when thefastener 172 is threaded into the threaded aperture of the T-shapedslide 170, the T-shapedslide 170 and the 90°elbow bracket 164 tighten against the mountingrail 166 so as to secure the 90°elbow bracket 164 in a stationary position relative to the mountingrail 166. Thus, when thefastener 172 is loosened, the 90°elbow bracket 164 may be adjusted linearly along the longitudinal axis of the mountingrail 166 by sliding the T-shapedslide 170 along the mountingrail 166, as shown byarrow 173. - The other end of the 90°
elbow bracket 164 extends outward away from the mountingrail 166 and has an aperture extending there through for receiving a fastener 176. The fastener 176 also extends through a pair of substantiallycircular disks serrated teeth circular disks elbow bracket 164 and through apertures provided in each of thecircular disks slide 186 that is slidably captured within a substantially T-shapedslot 188 formed in a substantiallyrectangular linkage rail 190. When the fastener 176 is threaded into a threaded aperture in the T-shapedslide 186, the T-shapedslide 186 and thecircular disks linkage rail 190 so as to secure the 90°elbow bracket 164 in a fixed position relative to thelinkage rail 190. However, when the fastener 176 is loosened, the T-shapedslide 186 is allowed to move linearly along thelinkage rail 190, and thecircular disk linkage rail 190 to rotate relative to the mountingrail 166, as indicated byarrow 192. Although thecircular disks tooth insert assembly 60 in the present embodiment, as previously described. - In order to provide further adjustment of the
modular tooling 12, themodular tooling apparatus 10 provides anadditional linkage rail 194 that is similar to thelinkage rail 190. Thelinkage rail 194 also provides a T-shapedslot 196 and a substantially T-shaped slide (not shown) similar to that previously described in thelinkage rail 190. A pair ofcircular disks disks disk serrated teeth circular disk 200 is mounted adjacent the T-shaped slide provided in thelinkage rail 194, and thecircular disk 202 is mounted adjacent the T-shapedslot 188 of thelinkage rail 190. Aconventional fastener 210 extends coaxially through apertures provided in the T-shaped slide 208, thecircular disk slide 198 provided in thelinkage rail 194. There is no T-shaped slide provided inlinkage rail 190 because thefastener 210 must extend through thelinkage rail 190 to provide access to thefastener 210, therefore thedisks linkage rail 190. However, when thefastener 210 is loosened, the T-shaped slide may slide along thelinkage rail 194 to provide linear adjustment along the mountingrail 194, as indicated byarrow 198. Thecircular disks linkage rail 194 relative to thelinkage rail 190, as indicated byarrow 212. When thefastener 210 is tightened, thecircular disks slides 198, 208 are secured in a fixed position relative to the linkage rails 194, 190. However, since thefastener 210 must pass through an aperture provided in a wall of thelinkage rail 190 in order to provide the user with access to thefastener 210, thelinkage rail 194 cannot be adjusted linearly along thelinkage rail 190. - To secure the
modular tooling 12 to thelinkage rail 194, a 90°elbow bracket 214 is utilized at one end of thelinkage rail 194, as seen inFIG. 13 . The 90°elbow bracket 214 has a pair ofcircular disks elbow bracket 214 and thelinkage rail 194. Each of thecircular disks serrated teeth disks circular disk 218 is mounted adjacent a substantially T-shapedslot 196 provided in thelinkage rail 194. Aconventional fastener 226 extends coaxially through an aperture provided in the mountingrail 194, through the T-shaped slide 224, thecircular disks elbow bracket 214. Again, no T-shaped slide is utilized due to thefastener 226 extending through thelinkage rail 194. However, when thefastener 226 is loosened, theserrated disk modular tooling 12 relative to thelinkage rail 194, as indicated byarrow 227. When thefastener 226 is tightened, thecircular disks serrated teeth disks elbow bracket 214 in a stationary position relative to thelinkage rail 194. - To provide rotational adjustment to the
modular tool 12, an opposite end of the 90°elbow bracket 214 provides a substantiallycircular disk 228 having a circular array ofserrated teeth 230 formed thereon. Themodular tool 12 has a mountingbracket 232 connected to themodular tool 12 by fourconventional fasteners 234. The mountingbracket 232 also has a circular array ofserrated teeth 236 mounted thereon for matingly engaging theserrated teeth 230 provided on thecircular disk 228 of the 90°elbow bracket 214. A conventional fastener (not shown) extends coaxially through an aperture provided in the 90°elbow bracket 214, thecircular disk 228, and the mountingbracket 232. When the fastener is loosened, theserrated teeth modular tool 12, as indicated by anarrow 240. When the fastener 238 is tightened, theserrated teeth modular tool 12 to be maintained in a stationary position relative to the 90° elbow bracket. - In an alternative embodiment shown in
FIG. 14 , anadditional linkage rail 242 may be connected tolinkage rail 194 before connecting theelbow coupling 214 to themodular tool 12. The same construction aslinkage members - In another embodiment of the of the present invention, the
tooth insert assembly 60 can be replaced in amodular tooling apparatus 300 by a lockingcap assembly 302, as shown inFIG. 15 . In themodular tooling apparatus 300, the lockingcap assembly 302 may be utilized to assist in connecting themodular tool 12 to a quick disconnect, as similarly described in previous embodiments, while providing orbital and rotational adjustment of themodular tool 12. The lockingcap assembly 302 is similar to thetooth insert assembly 60 in that two sets of contoured surfaces having serrated teeth with different number of teeth are employed to achieve fine positional control and ease of adjustment of the lockingcap assembly 302; however, the methods of adjustment are different from those of thetooth insert assembly 60. -
FIGS. 16 and 17 show exploded views of the lockingcap assembly 302, which includes a mounting member orbase coupling 304 having a substantiallycylindrical extension 306 having a face with fourslots 308 formed therein along alongitudinal axis 310. The mountingmember 304 may be connected to a boom rod, coupling, and/or quick disconnect which in turn is connected to a manipulator. The lockingcap assembly 302 also includes amoveable member 312 which in turn is connected to themodular tool 12. Themoveable member 304 has anaperture 314 extending there through for rotatably receiving thecylindrical extension 306 of the mountingmember 304. Themoveable member 304 has a contoured surface havingserrated teeth 316 radially formed therein in a substantially cylindrical manner. The mountingmember 304 also has a substantiallycylindrical base member 318 having fourtabs 320 formed on one end of thebase member 318 that matingly engage theslots 308 of thecylindrical extension 306 of the mountingmember 304 in a fixed relationship. Thebase member 318 is also partially received within theaperture 314 provided in themoveable member 304. Thebase member 318 also a contoured surface havingserrated teeth 322 radially formed in a substantial cylindrical and extending from the opposite end of thebase member 318 from thetabs 320. Theserrated teeth 322 of thebase member 318 fit within theserrated teeth 316 of themoveable member 312 without interfering with its movement. The lockingcap assembly 302 further includes a substantially cylindrical locking cap or lockingmember 326 having one contoured surface ofserrated teeth 328 and a second contoured surface ofserrated teeth 330 formed on one end of thelocking cap 326. Theserrated teeth serrated teeth 330 has a larger diameter thanserrated teeth 328. The lockingcap 326 is releasably engageable to lockingcap assembly 302 by aconventional fastener 332 which passes through appropriately sized apertures in lockingcap 326,spacers 324,moveable member 312 andbase member 318 to be attached to a threadedaperture 334 in the mountingmember 304 along thelongitudinal axis 310. - To secure the locking
cap assembly 302 and prevent the mountingmember 304 from moving in relation to themoveable member 312, thefastener 332 is threaded into the threadedaperture 334 causing thelocking cap 326 to engage theserrated teeth 328 on thelocking cap 326 with theserrated teeth 322 of thebase member 318 and engage theserrated teeth 330 of thelocking cap 326 with theserrated teeth 316 of themoveable member 312. When thefastener 332 is tightened against the lockingcap 326, the engagement of thefirst slots 308 and thesecond tabs 320, theserrated teeth serrated teeth member 304 from moving in relation to themoveable member 312. - To adjust the locking
cap assembly 302 and change the geometric relationship between the mountingmember 304 and themoveable member 312, thefastener 332 is threadingly loosened to permit disengagement of theserrated teeth 328 in thelocking cap 326 from theserrated teeth 322 on thebase member 318 and theserrated teeth 330 of thelocking cap 326 from theserrated teeth 316 of themoveable member 312 without removing thefastener 332 completely from the threadedaperture 334. The mountingmember 304 and themoveable member 312 are then free to move in relation to each other about thelongitudinal axis 310. Adjustment can be accomplished by an operator manipulating the mountingmember 304 and themoveable member 312 by hand to the desired position. The lockingcap 326 can be then rotated about thelongitudinal axis 310 to find a location where theserrated teeth 328 of thelocking cap 326 can engage theserrated teeth 322 of thebase member 318 and theserrated teeth 330 of thelocking cap 326 can engage theserrated teeth 316 of themoveable member 312, simultaneously. This is possible since the combination of unequal numbers of serrated teeth on the contoured surfaces provides adjustment to within about 0.6 degrees by rotating thelocking cap 326 with respect to theserrated teeth 322 of thebase member 318 and theserrated teeth 316 of themoveable member 312. The lockingcap assembly 302 can then fix the relative position of the mountingmember 304 and themoveable member 312 in this position by threadingly tightening thefastener 332, thereby maintaining the adjusted relationship between the mountingmember 304 and themoveable member 312. - Since the
serrated teeth 328 of thelocking cap 326 and theserrated teeth 322 of thebase member 318 have a first number of teeth, and theserrated teeth 330 of thelocking cap 326 and theserrated teeth 316 of themoveable member 312 have a second number of teeth, the angular resolution at which thelocking cap assembly 302 can fix themoveable member 312 and the mountingmember 304 is a function of the ratio of the first and second numbers of teeth. For example, if theserrated teeth serrated teeth cap assembly 302 is about 0.6 degrees yielding 600 different positions at which thelocking cap assembly 302 can be set within its 360° rotation. To find the correct position at which theserrated teeth locking cap 326 engage theserrated teeth 328 of thebase member 318 and theserrated teeth 316 of themoveable member 312, the lockingcap 326 is rotated until the best fit between theserrated teeth - Different embodiments of the locking
cap assembly 302 can also include a biasing element which helps to maintain engagement of appropriate contoured surfaces during the adjustment process. Inclusion of springs through which thefastener 332 passes on thelongitudinal axis 310 between thefastener 332 and thelocking cap 326 can cause thelocking cap 326 to be biased against themoveable member 312 and thebase member 318 unless a user is actively disengaging thelocking cap 326. - In operation, the
modular tooling apparatus 10 of the present invention is assembled in a manner that allows themodular tooling 12 to reach and engage the appropriate work piece when manipulated by the manipulator. Themodular tooling apparatus 300, as previously described, may be adjusted linearly and orbitally to allow themodular tooling 12 to be in a proper position relative to the work piece. - While the invention has been described in connection with certain embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law.
Claims (19)
1-18. (canceled)
19. A modular tooling apparatus comprising:
a base coupling connectible to a manipulator;
a first linkage member adjustably connected to the base coupling for rotational adjustment about a first axis; and
a second linkage member adjustably connected to the first linkage member for rotational adjustment about a second axis,
wherein the rotational adjustment of the first linkage member about the first axis and the rotational adjustment of the second linkage member about the second axis combine to provide orbital adjustment of the second linkage member about the first axis.
20. The modular tooling apparatus of claim 19 , wherein the first axis and the second axis are substantially parallel to one another.
21. The modular tooling apparatus of claim 19 , wherein the first axis and the second axis are radially spaced from one another.
22. The modular tooling apparatus of claim 19 , wherein the first linkage member and the second linkage member have substantially rectangular configurations.
23. The modular tooling apparatus of claim 19 , wherein the first linkage member and the second linkage member have substantially rectangular configurations with arcuate ends.
24. The modular tooling apparatus of claim 19 , wherein a modular tool is connected to the second linkage member.
25. A modular tooling apparatus comprising:
a base coupling connectible to a manipulator and having a first contoured surface;
a first linkage member having a second contoured surface and a third contoured surface, wherein the second contoured surface is matingly and adjustably connected to the first contoured surface of the base coupling for rotational adjustment of the first linkage member about a first axis; and
a second linkage member having a fourth contoured surface matingly and adjustably connected to the third contoured surface of the first linkage member for rotational adjustment of the second linkage member about a second axis, wherein the first axis and the second axis are substantially parallel to one another.
26. The modular tooling apparatus of claim 25 , wherein the first axis and the second axis are radially spaced from one another.
27. The modular tooling apparatus of claim 25 , wherein the second contoured surface and the third contoured surface of the first linkage member are in the same plane.
28. The modular tooling apparatus of claim 25 , wherein the first linkage member and the second linkage member have substantially rectangular configurations.
29. The modular tooling apparatus of claim 25 , wherein the first linkage member and the second linkage member have substantially rectangular configurations with arcuate ends.
30. The modular tooling apparatus of claim 25 , wherein the rotational adjustment of the first linkage bar about the first axis and the rotational adjustment of the second linkage bar about the second axis combine to provide orbital adjustment of the second linkage bar about the first axis.
31. The modular tooling apparatus of claim 25 , wherein the second contoured surface and the third contoured surface extend in the same direction.
32. The modular tooling apparatus of claim 25 , wherein the first contoured surface and the third contoured surface extend in the same direction.
33. The modular tooling apparatus of claim 25 , wherein the first contoured surface, the second contoured surface, the third contoured surface, and the fourth contoured surface each have a base and a plurality of ridges extending radially away from the base.
34. The modular tooling apparatus of claim 33 , wherein the plurality of ridges on the second contoured surface and the plurality of ridges on the third contoured surface extend in the same direction.
35. The modular tooling apparatus of claim 34 , wherein the plurality of ridges on the first contoured surface and the plurality of ridges on the fourth contoured surface extend in a direction that is substantially opposite as the direction that the plurality of ridges on the second contoured surface and the plurality of ridges on the second contoured surface extend.
36. The modular tooling apparatus of claim 25 , wherein a modular tool is connected to the second linkage member.
Priority Applications (1)
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US15/207,842 US20160318193A1 (en) | 2011-02-08 | 2016-07-12 | Modular Tooling Apparatus Having Serrated Teeth for Orbital and Linear Adjustment |
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US201161440464P | 2011-02-08 | 2011-02-08 | |
US13/368,959 US9395032B2 (en) | 2011-02-08 | 2012-02-08 | Modular tooling apparatus having serrated teeth for orbital and linear adjustment |
US15/207,842 US20160318193A1 (en) | 2011-02-08 | 2016-07-12 | Modular Tooling Apparatus Having Serrated Teeth for Orbital and Linear Adjustment |
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US13/368,959 Continuation US9395032B2 (en) | 2011-02-08 | 2012-02-08 | Modular tooling apparatus having serrated teeth for orbital and linear adjustment |
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Also Published As
Publication number | Publication date |
---|---|
CN103501971A (en) | 2014-01-08 |
JP2014511282A (en) | 2014-05-15 |
CN103501971B (en) | 2016-12-14 |
EP2673120A1 (en) | 2013-12-18 |
WO2012109351A1 (en) | 2012-08-16 |
BR112013020269A2 (en) | 2016-10-18 |
JP5883037B2 (en) | 2016-03-09 |
US9395032B2 (en) | 2016-07-19 |
US20120263519A1 (en) | 2012-10-18 |
EP2673120B1 (en) | 2017-04-05 |
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Owner name: NORGREN AUTOMATION SOLUTIONS, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KOTULA, RONALD ANDREW;JACOBI, BRANDON SCOTT;FILIPIAK, MICHAEL A.;AND OTHERS;SIGNING DATES FROM 20120424 TO 20120601;REEL/FRAME:039133/0225 |
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