Sensor module for a robot

Patent metadata

Field	Value
Publication number	US-2020269447-A1
Application number	US-201916281747-A
Country	US
Kind code	A1
Filing date	Feb 21, 2019
Priority date	Feb 21, 2019
Publication date	Aug 27, 2020
Grant date	—

Abstract

A sensor module is provided for adding functionality to a robot. The sensor module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The sensor module includes a sensor for monitoring a condition near the end effector. An output port of the module transmits sensor data to a processor outside of the sensor module for further processing.

First claim

1 . A robot, comprising:
a base at one end of the robot; an end effector at another end of the robot; a joint disposed between the base and the end effector; a robot tool mounting surface disposed between the joint and the end effector; a sensor module disposed between the robot tool mounting surface and the end effector, the sensor module comprising a housing with a sensor module mounting surface, the sensor module mounting surface being adapted to attach the end effector thereto; and a sensor disposed within the housing.

2 . The robot according to claim 1 , wherein the sensor module is attached to the robot tool mounting surface and the end effector is attached to the sensor module mounting surface.

3 . The robot according to claim 1 , wherein the housing comprises through holes for attaching the sensor module to the robot tool mounting surface with bolts extending therethrough from the sensor module mounting surface.

4 . The robot according to claim 1 , wherein the housing comprises first and second housing parts, the first housing part being attached to the robot tool mounting surface, and the second housing part being attached to the first housing part, the second housing part comprising the sensor module mounting surface.

5 . The robot according to claim 1 , wherein the robot tool mounting surface comprises an industry standard tool flange.

6 . The robot according to claim 5 , wherein the industry standard tool flange is defined by ISO 9409-1:2004(E).

7 . The robot according to claim 1 , wherein the robot tool mounting surface comprises a plurality of first threaded holes, the sensor module being attached to the robot tool mounting surface with threaded fasteners engaging the first threaded holes.

8 . The robot according to claim 1 , wherein the sensor module mounting surface comprises an industry standard tool flange.

9 . The robot according to claim 8 , wherein the industry standard tool flange is defined by ISO 9409-1:2004(E).

10 . The robot according to claim 1 , wherein the sensor module mounting surface comprises a plurality of second threaded holes, the end effector being attached to the sensor module mounting surface with threaded fasteners engaging the second threaded holes.

11 . The robot according to claim 1 , wherein the robot tool mounting surface comprises a plurality of first threaded holes for attaching the sensor module thereto, the sensor module mounting surface comprises a plurality of second threaded holes for attaching the end effector thereto, the first and second threaded holes being defined by matching threads and hole patterns.

12 . The robot according to claim 1 , wherein the sensor detects an ambient condition.

13 . The robot according to claim 1 , wherein the sensor detects acceleration, speed, force, torque, position, magnetic field, light, temperature, pressure, humidity or sound.

14 . The robot according to claim 1 , wherein the housing comprises a second opening, the sensor thereby being exposed to a surrounding environmental condition through the second opening.

15 . The robot according to claim 1 , wherein the housing comprises a first opening for an output port, the output port being connected to the sensor and a cable being connected to the output port to communicate the sensor data to a processor.

16 . The robot according to claim 15 , wherein the cable further supplies power to the sensor.

17 . The robot according to claim 1 , further comprising a processing module disposed between the robot tool mounting surface and the end effector, the processing module comprising a housing, a processing module mounting surface, an input port and an output port, a first processor being disposed within the housing of the processing module, and the processing module mounting surface being adapted to attach the end effector thereto, wherein the input port of the processing module receives sensor data from the sensor, the first processor generates processed sensor data comprising fewer bits per second than the sensor data, and the output port of the processing module transmits the processed sensor data to a second processor of a robot controller.

18 . The robot according to claim 1 , wherein the robot tool mounting surface comprises an industry standard tool flange, the sensor module mounting surface also comprises the industry standard tool flange, the robot tool mounting surface comprises a plurality of first threaded holes for attaching the sensor module thereto, the sensor module mounting surface comprises a plurality of second threaded holes for attaching the end effector thereto, the first and second threaded holes being defined by matching threads and hole patterns, the housing comprises a first opening for an output port, the output port being connected to the sensor and a cable being connected to the output port to communicate the sensor data to a processor.

19 . The robot according to claim 18 , wherein the sensor detects acceleration, speed, force, torque, position, magnetic field, light, temperature, pressure, humidity or sound.

20 . The robot according to claim 19 , wherein the housing comprises a second opening, the sensor thereby being exposed to a surrounding environmental condition through the second opening.

Assignees

• Abb Schweiz Ag

Inventors

• Simkins Matt
• Zahrai Said

Classifications

• G05B2219/34012

  Smart, intelligent I-O coprocessor, programmable sensor interface · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• B25J19/02 Primary

  Sensing devices · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title