Robotic system with reconfigurable end-effector assembly

Patent metadata

Field	Value
Publication number	US-10011022-B1
Application number	US-201715440471-A
Country	US
Kind code	B1
Filing date	Feb 23, 2017
Priority date	Feb 23, 2017
Publication date	Jul 3, 2018
Grant date	Jul 3, 2018

Abstract

An end-effector assembly includes a master boom, a frame rail coupled to the master boom, at least one branch rail movably coupled to the frame rail by a branch lock, and a swing arm movably coupled to the at least one branch rail by a swing lock. The swing lock includes a clamp configured to movably secure the swing arm to the branch rail. A pivot shaft extends through the clamp and the swing arm and is configured to rotationally secure the swing arm to the clamp. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. Further, a locking fastener extends through the swing plate and into the pivot shaft. The locking fastener is configured to lock and unlock the swing lock in position along the branch rail.

First claim

What is claimed is:

1. An end-effector assembly comprising:
a master boom;
a frame rail coupled to the master boom;
at least one branch rail movably coupled to the frame rail by a branch lock; and
a swing arm movably coupled to the at least one branch rail by a swing lock, wherein the swing lock further includes:
a clamp configured to movably secure the swing arm to the branch rail, wherein the clamp further defines a protrusion on an end face and the swing arm defines a correspondingly-shaped recess, and wherein the protrusion and the recess are matingly joined when the locking fastener is locked;
a pivot shaft extending through the clamp and the swing arm, the pivot shaft configured to rotationally secure the swing arm to the clamp;
a swing plate secured to the pivot shaft and configured for engagement with a configuration tool; and
a locking fastener extending through the swing plate and into the pivot shaft, wherein the locking fastener is configured to lock and unlock the swing lock in position along the branch rail.

2. The end-effector assembly of claim 1 , wherein the branch lock is movable relative to the frame rail between an unlocked and a locked state so as to fix the branch rail in position relative to the frame rail.

3. The end-effector assembly of claim 1 , wherein the swing lock is rotationally and linearly movable along the branch rail between an unlocked and a locked state so as to fix the swing arm in position relative to the branch rail.

4. The end-effector assembly of claim 1 , further comprising an end tool arranged at a distal end of the swing arm, the end tool defining a first side of the end-effector assembly for engagement with a workpiece, wherein the branch lock and the swing lock are configured to be engaged by the configuration tool on a second side of the end-effector assembly opposite to the first side.

5. The end-effector assembly of claim 1 , further comprising a retaining ring secured within the swing plate and configured to retain the locking fastener therein, wherein the retaining ring traps the locking fastener to assist in releasing the protrusion from the recess.

6. The end-effector assembly of claim 1 , wherein the swing lock further comprises at least one over-stretch limiting device.

7. The end-effector assembly of claim 6 , wherein the over-stretch limiting device includes at least one over-stretch fastener secured within the clamp for restraining the clamp during unlock of the swing lock.

8. A swing lock assembly for an end-effector, the swing lock assembly comprising:
a clamp configured to movably secure a swing arm to a branch rail, the clamp including an arm portion and a base portion having a protrusion on an end face thereof, the swing arm having a recess correspondingly shaped with the protrusion;
a pivot shaft extending through the arm and base portions of the clamp, the pivot shaft configured to rotationally secure the swing arm to the clamp;
a swing plate arranged on the arm portion of the clamp and keyed to the pivot shaft, the swing plate including at least one tab configured for engagement with a configuration tool;
a locking fastener extending through the swing plate and into the pivot shaft, the locking fastener configured to lock and unlock the swing lock assembly in position along the branch rail, wherein the protrusion and the recess are matingly joined when the locking fastener is locked; and
a retaining ring secured within the swing plate and configured to retain the locking fastener therein, wherein the retaining ring traps the locking fastener to assist in releasing the protrusion from the recess.

9. The swing lock assembly of claim 8 , wherein the swing lock is rotationally and linearly movable along the branch rail between an unlocked and a locked state so as to fix the swing arm in position relative to the branch rail.

10. The swing lock assembly of claim 8 , further comprising an end tool arranged at a distal end of the swing arm, the end tool defining a first side of the end-effector, wherein the swing lock assembly is configured to be engaged by the configuration tool on a second side of the end-effector opposing the first side.

11. The swing lock assembly of claim 8 , further comprising at least one over-stretch limiting device having at least one over-stretch fastener secured between the arm portion and the base portion of the clamp for restraining the clamp during unlock of the locking fastener.

12. The swing lock assembly of claim 8 , wherein the configuration tool includes:
a tool body;
a gripper coupled to the tool body, the gripper including a plurality of gripper fingers movable toward and away from each other, wherein the configuration tool is coupled to the swing lock assembly when the gripper fingers engage the at least one tab; and
a driver bit extending from the tool body, wherein the driver bit is aligned with the locking fastener when the gripper fingers engage the at least one tab such that rotating the driver bit causes the swing lock assembly to move between the locked and unlocked states.

13. A swing lock assembly for an end-effector, the swing lock assembly comprising:
a clamp configured to secure a swing arm to a branch rail, the clamp having a first surface and an opposing second surface;
a pivot shaft extending through the clamp and the swing arm in order to rotationally secure the swing arm to the clamp, the pivot shaft having a flange arranged at the second surface of the clamp, and wherein the pivot shaft is keyed for rotational movement with the swing arm;
a swing plate arranged on the first surface of the clamp and keyed to the pivot shaft, the swing plate including at least one tab configured for engagement with a configuration tool; and
a locking fastener extending through the swing plate and into the pivot shaft, the locking fastener configured to move the swing plate and the flange toward each other in order to lock the swing lock assembly in position along the branch rail, and away from each other in order to unlock the swing lock assembly from position along the branch rail.

14. The swing lock assembly of claim 13 , wherein the swing lock assembly is rotationally and linearly movable along the branch rail between an unlocked and a locked state so as to fix the swing arm in position relative to the branch rail.

15. The swing lock assembly of claim 13 , further comprising an end tool arranged at a distal end of the swing arm, the end tool defining a first side of the end-effector, wherein the swing lock assembly is configured to be engaged by the configuration tool on a second side of the end-effector opposing the first side.

16. The swing lock assembly of claim 13 , wherein the configuration tool includes:
a tool body;
a gripper coupled to the tool body, the gripper including a plurality of gripper fingers movable toward and away from each other, wherein the configuration tool is coupled to the swing lock assembly when the gripper fingers engage the at least one tab; and
a driver bit extending from the tool body, wherein the driver bit is aligned with the locking fastener when the gripper fingers engage the at least one tab such that rotating the driver bit causes the swing lock assembly to move between the locked and unlocked states.

17. A robot having an end-effector including the swing lock assembly of claim 13 .

Assignees

• Gm Global Tech Operations Llc

Inventors

• Lin Yhu-Tin
• Hwang Dooil
• Perlman Maurice

Classifications

• B25J15/0061 Primary

  mounted on a modular gripping structure · CPC title

• B25J15/0616

  with vacuum · CPC title

• B25J9/1005

  comprising adjusting means · CPC title

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title

• B25J15/0004

  with provision for adjusting the gripped object in the hand · CPC title