Robotic smart end effector tooling

• US 9,821,473 B2
• Filed: 10/29/2014
• Issued: 11/21/2017
• Est. Priority Date: 01/19/2009
• Status: Active Grant

• Current Assignee: Comau LLC (Stellantis NV)
• Original Assignee: Comau LLC (Stellantis NV)
• Inventors: Kilibarda, Velibor, Cyrek, Joseph, Reid, David
• Primary Examiner(s): Patton, Spencer D
• Application Number:
  US14/527,098
• Publication Number:
  US 20150088300A1
• Time in Patent Office: 1,119 Days
• CPC Class Codes: B05B 12/1463 separate containers for different materials to be sprayed being moved from a first location, e.g. a filling station, where they are fluidically disconnected from the spraying apparatus, to a second location, generally close to the spraying apparatus, where they are fluidically connected to the latter B05B12/1454 takes precedence
• CPC Class Codes: B05B 15/5223 the cleaning element, e.g. a needle, and the discharge opening being movable relative to each other in a direction substantially parallel to the flow of liquid or other fluent material through said opening
• CPC Class Codes: B05C 11/1005 responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
• CPC Class Codes: B05C 11/1021 responsive to presence or shape of target B05C11/1018 takes precedence
• CPC Class Codes: B05C 17/0143 comprising means for cutting or cleaning the cartridge nozzle tip
• CPC Class Codes: B05C 5/0216 by relative movement of article and outlet according to a predetermined path
• CPC Class Codes: B23K 11/315 with one electrode moving on a linear path
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B25J 15/0483 with head identification means
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements
• CPC Class Codes: G05B 2219/31095 Read write intelligent chip on workpiece, pallet, tool for data exchange
• CPC Class Codes: G05B 2219/39468 Changeable hand, tool, code carrier, detector
• CPC Class Codes: G05B 2219/49304 Tool identification, code
• CPC Class Codes: G05B 2219/49305 Store, memory on tool with control and maintenance data
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/42 Welding
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 74/20335 : Wrist

Abstract

A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.

Claims

1. A programmable robotic end effector apparatus for use with a multi-axis robot having a wrist, the end effector comprising:

a housing;

a connector connected to the housing, the connector selectively and removably engageable with a robot wrist;

an end effector control unit connected to the housing, the end effector control unit further comprising;

a processor;

a memory storage device;

end effector programmed operating instructions stored in the end effector memory storage device, the end effector operating instructions operable to control an end effector tool to perform a predetermined assembly operation on a workpiece;

robot programmed operating instructions stored in the end effector memory storage device, the robot operating instructions operable to control an operation of the robot;

an electronic communication device operable to establish communication between the end effector control unit and the robot and to send the robot programmed operating instructions to a robot control unit for execution of the robot programmed operating instructions by the robot; and

a tool connected to the housing, the tool having an actuator in electronic communication with the end effector control unit, the tool operable to execute the end effector programmed operating instructions to perform the predetermined assembly operation on the workpiece.

2. The end effector of claim 1 wherein the electronic communication device comprises a network interface device configured to communicate data between the end effector and at least one of the robot, an assembly plant communication network, an assembly plant server or another programmable end effector.

3. The end effector of claim 2 wherein the network interface device comprises at least one of a wireless communication card or a network interface card (NIC).

4. The end effector of claim 1 further comprising:

at least one service line; and

the connector further comprising at least one of a socket or a plug for engaging receipt of a reciprocal plug or socket connected to at least one service line connected to the robot.

5. The end effector of claim 1 wherein the tool comprises a resistance spot welding gun, the end effector further comprises:

a displacement device for selective movement of at least one weld arm;

a power supply device for selective supply of electrical current to a weld arm electrode; and

a fluid supply device for selective supply of fluid to at least one weld arm.

6. The end effector of claim 1 wherein the tool comprises a fluid application device, the end effector further comprises:

a fluid reservoir for temporary storage of a fluid to be dispensed by a tool fluid dispensing end; and

a fluid supply device for selective movement of fluid from the fluid reservoir toward the tool fluid dispensing end.

7. The end effector of claim 6 wherein the fluid reservoir comprises a disposable fluid cartridge removably positioned on the end effector, the fluid supply device further comprises a servo motor and a plunger, the plunger operable to force fluid from the disposable cartridge toward the tool fluid dispensing end.

8. The end effector of claim 6 further comprising a sensor in communication with the end effector control unit.

9. The end effector of claim 8 wherein the sensor comprises a vision device having an image taking apparatus for visually inspecting fluid dispensed from the tool fluid dispensing end.

10. A method of controlling a robotic end effector tool for use in conducting work on a workpiece, the method comprising the steps of:

an end effector control unit receiving programmed end effector operation instructions for at least one predetermined end effector tool physical assembly operation;

the end effector control unit receiving programmed operation instructions to control a multi-axis robot engaged with the end effector tool;

the end effector control unit storing the end effector and robot operation instructions in a memory storage device in communication with the end effector control unit;

removably engaging the end effector tool to a multi-axis robot wrist;

accessing the stored end effector and robot operation instructions from the memory storage device;

executing the stored end effector and robot operation instructions for the predetermined tool physical assembly operation; and

performing the physical assembly operation by the end effector tool.

11. The method of claim 10 further comprising the steps of:

establishing electronic communication between the end effector control unit and a robot control unit, the electronic communication including at least digital data communication;

transferring the stored robot operating instructions from the end effector memory storage device to the robot control unit; and

performing at least one physical operation by the robot according to the transferred robot operating instructions.

12. The method of claim 11 wherein the step of establishing electronic communication between the end effector control unit and the robot control unit occurring on physical engagement of the end effector to the robot wrist.

13. The method of claim 11 wherein the step of robot performing at least one physical operation by the robot according to the transferred robot operating instructions comprises:

the robot positioning the robot wrist in three dimensional coordinate space to position an end effector tool center point (TCP) of the end effector tool at a predetermined three dimensional coordinate position for the performing the physical assembly operation by the tool.

14. The method of claim 10 wherein the step of removably engaging the end effector tool to the robot wrist further comprises the step of:

automatically connecting at least one service line connected to the robot with a coordinating service line connected to the end effector tool.

15. The method of claim 14 further comprising the step of:

selectively activating the at least one service line for communication of at least one of an electrical current or a fluid between the robot service line and the end effector service line to perform the end effector tool physical assembly operation.

16. The method of claim 15 wherein the step of selectively activating the at least one service line further comprises the steps of:

transferring stored operation instructions from the end effector memory storage device to a service line apparatus control device.

17. The method of claim 10 wherein the step of removably engaging the end effector tool to the robot wrist further comprises the steps of:

wirelessly transferring robot operation instructions to the robot control unit from the end effector control unit;

executing the transferred operation instructions by the robot to move the robot wrist to a predetermined three dimensional coordinate position where an end effector connector plate is positioned; and

establishing physical contact between the robot wrist and end effector connector plate to physically engage the end effector to the robot wrist.