Robotic system with reconfigurable end-effector assembly

• US 9,808,933 B2
• Filed: 03/24/2016
• Issued: 11/07/2017
• Est. Priority Date: 04/03/2015
• Status: Active Grant

• Current Assignee: Delaware Capital Formation Incorporated (Dover Corporation), GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: Delaware Capital Formation Incorporated (Dover Corporation), GM Global Technology Operations LLC (General Motors Company)
• Inventors: Lin, Yhu-Tin, Pohlers, Joerg, Dellach, Ken, Perlman, Maurice
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/080,069
• Publication Number:
  US 20160288322A1
• Time in Patent Office: 593 Days
• Field of Search: 700245, 700250, 294 864, 2941191, 483901, 901 30, 901 41
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05B 2219/39468 Changeable hand, tool, code carrier, detector
• CPC Class Codes: Y10S 901/41 Tool

Abstract

A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.

Claims

1. A robotic system comprising:

a multi-axis robot having an arm and a wrist;

an end-effector assembly having a main boom, a tool changer assembly disposed at a distal end of the main boom, parallel frame rails arranged orthogonally with respect to the main boom and rotatable with respect to an axis of the main boom, a plurality of tool support branches arranged orthogonally with respect to the parallel frame rails, and a plurality of tool modules connected to a respective one of the tool support branches, wherein the tool modules are rotatable and translatable with respect to an axis of a respective one of the branches;

a configuration tool having a control block disposed at one distal end of the configuration tool that is selectively engageable via the tool changer assembly, and a work tool disposed at another distal end of the configuration tool; and

a controller programmed to command the robot to automatically configure the end-effector assembly by adjusting at least one of the tool modules, the parallel rails, and the tool support branches using the configuration tool in response to an identified work task, and to thereafter command engagement of the wrist with the tool changer and execute the identified work task using the configured end-effector assembly.

2. The robotic system of claim 1, wherein the tool modules are pneumatic suction cups or grippers.

3. The robotic system of claim 2, wherein the end-effector assembly includes a plurality of linear/rotary locking mechanisms that connect the tool modules to a respective one of the branches.

4. The robotic system of claim 3, wherein each of the plurality of linear/rotary locking mechanisms defines an air passage configured for applying a vacuum to the suction cups or grippers.

5. The robotic system of claim 1, further comprising a bi-directional clutch assembly configured to lock or release the parallel frame rails with respect to the main boom.

6. The robotic system of claim 1, further comprising a configuration stand, wherein the tool changer assembly includes a first tool changer configured to engage the robot and a second tool changer configured to simultaneously engage the configuration stand.

7. The robotic system of claim 6, wherein the configuration stand includes a motor with a rotor axis, and wherein the controller is programmed to command the robot to automatically engage the tool changer assembly of the end-effector assembly with the second tool changer of the configuration stand to thereby achieve a load position of the configuration stand, automatically flip the end-effector assembly 180 degrees with respect to the rotor axis to a configuration location of the configuration stand, command engagement of the wrist with the configuration tool, and configure the end-effector assembly to execute the identified work task using the configuration tool.

8. The robotic system of claim 7, wherein the controller is further programmed to automatically detect when the configuration of the end-effector assembly is complete, and to thereafter flip the end-effector assembly 180 degrees with respect to the rotor axis back to the load location.

9. The robotic system of claim 6, wherein the configuration stand further includes a linear actuator operable for tilting the end-effector assembly to a calibrated tilt angle before rotating the end-effector assembly via the motor.

10. The robotic system of claim 1, further comprising a plurality of angled swing arms connecting the linear/rotating locking mechanism to the tool modules, wherein the configuration tool has a pair of locating pins and the angled swing arms each have a pair of mating locating holes configured to receive the locating pins.

11. A robotic system comprising:

a multi-axis robot having an arm and a wrist;

an end-effector assembly having a main boom, a tool changer assembly disposed at a distal end of the main boom, parallel frame rails arranged orthogonally with respect to the main boom and rotatable with respect to an axis of the main boom, a plurality of tool support branches arranged orthogonally with respect to the parallel frame rails, and a plurality of tool modules connected to a respective one of the tool support branches, wherein the tool modules are rotatable and translatable with respect to an axis of a respective one of the branches, wherein the end-effector assembly includes a plurality of linear/rotary locking mechanisms that connect the tool modules to a respective one of the branches;

a configuration tool having a control block disposed at one distal end of the configuration tool that is selectively engageable via the wrist, and a work tool disposed at another distal end of the configuration tool;

a configuration stand providing a known reference frame for configuration of the end-effector assembly, wherein the tool changer assembly includes a first tool changer configured to engage the robot and a second tool changer configured to simultaneously engage the configuration stand; and

a controller programmed to command the robot to automatically configure the end-effector assembly by adjusting at least one of the tool modules, the parallel rails, and the tool support branches using the configuration tool in response to an identified work task, and to thereafter command engagement of the wrist with the tool changer and execute the identified work task using the configured end-effector assembly.

12. The robotic system of claim 11, wherein the tool modules are pneumatic suction cups or grippers.

13. The robotic system of claim 11, wherein each of the plurality of linear/rotary locking mechanisms defines an air passage configured for applying a vacuum to the suction cups or grippers.

14. The robotic system of claim 11, further comprising a bi-directional clutch assembly configured to lock or release the parallel frame rails with respect to the main boom.

15. The robotic system of claim 11, wherein the configuration stand includes a motor with a rotor axis, and wherein the motor is operable for flipping the end-effector assembly with respect to the rotor axis.

16. The robotic system of claim 15, wherein the controller is programmed to command the robot to automatically engage the tool changer assembly of the end-effector assembly with the second tool changer of the configuration stand to thereby achieve a load position of the configuration stand, automatically flip the end-effector assembly 180 degrees with respect to the rotor axis to a configuration location of the configuration stand, command engagement of the wrist with the configuration tool, and configure the end-effector assembly to execute the identified work task using the configuration tool.

17. The robotic system of claim 16, wherein the controller is further programmed to automatically detect when the configuration of the end-effector assembly is complete, and to thereafter flip the end-effector assembly 180 degrees with respect to the rotor axis back to the load location.

18. The robotic system of claim 16, wherein the configuration stand further includes a linear actuator operable for tilting the end-effector assembly to a calibrated tilt angle before rotating the end-effector assembly via the motor.

19. The robotic system of claim 11, further comprising a plurality of angled swing arms connecting the linear/rotating locking mechanism to the tool modules, wherein the configuration tool has a pair of locating pins and the angled swing arms each have a pair of mating locating holes configured to receive the locating pins.