Automated digit interchange

Patent metadata

Field	Value
Publication number	US-10150218-B2
Application number	US-201715853695-A
Country	US
Kind code	B2
Filing date	Dec 22, 2017
Priority date	Jun 17, 2016
Publication date	Dec 11, 2018
Grant date	Dec 11, 2018

Abstract

A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

First claim

We claim:

1. A robotic device, comprising:
a first detachable digit, comprising a first connector piece; and
a digit mounting apparatus, comprising:
a second connector piece, wherein the second connector piece is configured to mate with the first connector piece; and
an actuator configured to pivot the second connector piece to cause the second connector piece to mate with the first connector piece to attach the first detachable digit to the digit mounting apparatus, wherein pivoting the second connector piece comprises a combined rotary and translational movement of the second connector piece along a predefined path, and wherein when the first connector piece is mated with the second connector piece, the actuator is configured to pivot the first detachable digit by pivoting the second connector piece.

2. The robotic device of claim 1 , wherein the second connector piece comprises a U-shaped cavity, and wherein the first connector piece comprises a complementary shape to the U-shaped cavity of the second connector piece.

3. The robotic device of claim 1 , wherein the second connector piece and the first connector piece are configured to interlock by sliding first lead-in features of the second connector piece into complementary second lead-in features of the first connector piece until at least one hardstop feature of the second connector piece meets at least one hardstop feature of the first connector piece.

4. The robotic device of claim 1 , wherein the second connector piece comprises a detent, and wherein the first detachable digit comprises a spring loaded device configured to engage the detent of the second connector piece when the second connector piece is mated with the first connector piece.

5. The robotic device of claim 1 , wherein the digit mounting apparatus further comprises a magnet, and wherein the magnet couples to a metal piece of the first detachable digit when the first connector piece is mated with the second connector piece.

6. The robotic device of claim 1 , wherein the digit further comprises a magnet, and wherein the magnet couples to a metal piece of the digit mounting apparatus when the first connector piece is mated with the second connector piece.

7. The robotic device of claim 1 , wherein an engagement feature on the first detachable digit is configured to engage a complementary engagement feature in a holster when the first detachable digit is placed in the holster, and wherein when the first detachable digit is placed in the holster, the actuator is configured to detach the first detachable digit from the digit mounting apparatus by pivoting the second connector piece.

8. The robotic device of claim 1 , further comprising:
a second detachable digit comprising a third connector piece, wherein the first detachable digit and the second detachable digit comprise opposable digits of a digit set, and wherein the digit mounting apparatus further comprises:
a fourth connector piece, wherein the fourth connector piece is configured to mate with the third connector piece of the second detachable digit, and
wherein the actuator is configured to pivot the fourth connector piece to cause the fourth connector piece to mate with the third connector piece to attach the second detachable digit to the digit mounting apparatus, wherein pivoting the fourth connector piece comprises a combined rotary and translational movement of the fourth connector piece along a predefined path, and wherein when the third connector piece is mated with the fourth connector piece, the actuator is configured to pivot the second detachable digit.

9. The robotic device of claim 8 , wherein when the second connector piece is mated with the first connector piece of the first detachable digit and the fourth connector piece is mated with the third connector piece of the second detachable digit, the actuator is configured to move the opposable digits of the digit set towards and away from each other by pivoting the first and third connector pieces.

10. A method comprising:
selecting, from a plurality of digits, a digit to couple to a digit mounting apparatus, wherein the selected digit comprises a first connector piece, wherein the digit mounting apparatus comprises an actuator and a second connector piece coupled to the actuator; and
coupling the digit mounting apparatus to the digit by actuating the actuator to cause the second connector piece to move translationally and rotationally along a predefined path, wherein when the first connector piece is mated with the second connector piece, the actuator is configured to pivot the digit by pivoting the second connector piece.

11. The method of claim 10 , wherein selecting the digit is based on one or more characteristics of an identified object, and wherein the one or more characteristics comprise: dimensions of the identified object, a shape of the identified object, a weight of the identified object, a fragility of the identified object, and a texture of the identified object.

12. The method of claim 11 , further comprising:
determining, based on the one or more characteristics, a respective predicted amount of torque for each digit of the plurality of digits to manipulate the identified object; and
selecting the digit to couple to the digit mounting apparatus based on the respective predicted amount of torque for each digit to manipulate the identified object.

13. The method of claim 12 , further comprising:
selecting the digit with a least amount of respective predicted torque to manipulate the identified object.

14. The method of claim 12 , further comprising:
inserting the digit into a holster, wherein inserting the digit into the holster causes an engagement feature of the digit to engage a complementary engagement feature in the holster; and
causing the actuator to pivot to decouple the second connector piece of the digit mounting apparatus from the first connector piece of the digit.

15. A robotic device comprising:
a plurality of detachable digits, wherein each digit comprises a respective first connector piece;
a digit mounting apparatus, comprising:
a second connector piece, wherein the second connector is configured to mate with the respective first connector piece of each digit of the plurality of digits; and
an actuator configured to pivot the second connector piece; and

a control system configured to:
select, from the plurality of digits, a first digit to couple to the digit mounting apparatus; and
actuate the second connector piece to move translationally and rotationally along a predefined path to mate with a respective first connector piece of the first digit in order to attach the digit mounting apparatus to the first detachable digit, wherein when the first connector piece is mated with the second connector piece, the actuator is configured to pivot the first digit by pivoting the second connector piece.

16. The robotic device of claim 15 , wherein the plurality of digits further comprise a plurality of opposable digits corresponding to the plurality of digits, wherein a first opposable digit corresponding to the first digit comprises a third connector piece, and wherein the digit mounting apparatus further comprises a fourth connector piece.

17. The robotic device of claim 16 , wherein the control system is further configured to:
actuate the fourth connector piece to move translationally and rotationally along a predefined path to mate with the connector piece in order to attach the digit mounting apparatus to the first opposable digit.

18. The robotic device of claim 17 , wh

Assignees

• X Dev Llc

Inventors

• Strauss Marc
• Youmans David
• Stanford Scott

Classifications

• B25J15/0475 Primary

  Exchangeable fingers · CPC title

• B25J15/0408

  Connections means · CPC title

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J15/0433

  having gripping members · CPC title