Robotic servicing multifunctional tool

Patent metadata

Field	Value
Publication number	US-9676096-B2
Application number	US-201213652339-A
Country	US
Kind code	B2
Filing date	Oct 15, 2012
Priority date	Oct 13, 2011
Publication date	Jun 13, 2017
Grant date	Jun 13, 2017

Abstract

Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

First claim

Therefore what is claimed is:

1. A multifunctional tool comprising
i) a tool tip, said tool tip comprising
a) a tool tip stator, and
b) a tool tip rotor rotatable about a first axis relative to said tool tip stator; and

ii) a tool holder capable of removably engaging said tool tip, said tool holder comprising
a) a collet,
b) a tool tip locker, and
c) a motive source;

wherein when said tool holder engages said tool tip,
i) said tool tip locker restricts rotational and axial movement about said first axis of said tool tip stator relative to said collet, and
ii) said motive source is capable of rotating said tool tip rotor about said first axis relative to said tool tip stator.

2. The multifunctional tool of claim 1 further comprising a selector, wherein when said selector is engaged, said motive source is capable of rotating said collet about said first axis.

3. The multifunctional tool of claim 1 further comprising a tilter capable of rotating said tool holder about a second axis substantially orthogonal to said first axis.

4. The multifunctional tool of claim 2 wherein when said multifunctional tool is in a range of orientations about a second axis substantially orthogonal to said first axis, said selector is engaged.

5. The multifunctional tool of claim 1 wherein said tool tip further comprises
i) a pushrod translatable along said first axis relative to said tool tip stator,
ii) a screw mechanism between said pushrod and said tool tip rotor capable of transforming rotation of said tool tip rotor about said first axis into translation of said pushrod along said first axis.

6. The multifunctional tool of claim 5 wherein said tool tip stator comprises
i) a lever tool comprising two elongate members rotatably attached to each other and to said tool tip stator, and
ii) a mechanical linkage for transforming translation of said pushrod into a scissoring motion of said elongate members.

7. The multifunctional tool of claim 6 wherein said lever tool is selected from the group consisting of grippers, handlers, pliers, cutters, and scissors.

8. The multifunctional tool of claim 6 wherein said lever tool is a wire cutter.

9. The multifunctional tool of claim 6 wherein said lever tool is a thermal blanket gripper.

10. The multifunctional tool of claim 1 further comprising
i) a tool holder body; and
ii) a collet locker capable of engaging said collet;
wherein when said collet locker engages said collet, rotation of said collet with respect to said tool holder body is restricted; and
wherein when said collet locker disengages said collet, said motive source is capable of rotating said collet relative to said tool holder body about said first axis.

11. The multifunctional tool of claim 10
wherein said collet has an indentation;
wherein said collet locker comprises a detent engagable to said indentation on said collet; and
wherein when said detent is engaged to said indentation on said collet, said collet locker engages said collet.

12. The multifunctional tool of claim 11
i) wherein said detent is a ball bearing;
ii) wherein said tool holder body has a hole that restricts axial, circumferential and inwardly radial movement of said ball bearing, but allows outwardly radial movement of said ball bearing; and
iii) wherein said collet locker further comprises a sleeve around said tool holder body, said sleeve axially translatable along said first axis relative to said tool holder body, said sleeve having a recess alignable with said ball bearing, such that
a) when said recess is not aligned with said ball bearing, said sleeve urges said ball bearing radially inwards, engaging said ball bearing to said indentation on said collet, and
b) when said recess is aligned with said ball bearing, said recess allows said ball bearing to move radially outwards, disengaging said ball bearing from said indentation on said collet.

13. The multifunctional tool of claim 12
wherein said collet locker further comprises at least one other ball bearing,
wherein said tool holder body has corresponding at least one other hole,
wherein said sleeve has corresponding at least one other recess, and
wherein said collet has at least one other indentation.

14. The multifunctional tool of claim 13 wherein the number of said indentations on said collet is larger than the number of said ball bearings.

15. The multifunctional tool of claim 14 wherein the number of said indentations on said collet is twelve and the number of said ball bearings is six.

16. The multifunctional tool of claim 10 further comprising a tilter configured for rotating said tool holder about a second axis substantially orthogonal to said first axis.

17. The multifunctional tool of claim 16 wherein when said multifunctional tool is in a range of orientations about said second axis, said collet locker is engaged.

18. The multifunctional tool of claim 16 wherein said tilter comprises
i) a linear bearing;
ii) a shoe actuable along said linear bearing;
iii) a yoke rotatably attached to said shoe at a distal end of said yoke, said yoke also rotatably attached to a sleeve at an opposing distal end of said yoke;
iv) a cam affixed to said linear bearing;
v) a cam follower rotatably attached to said sleeve, capable of moving along said cam; and
vi) a shoe actuator capable of actuating said shoe along said linear bearing.

19. The multifunctional tool of claim 18 wherein actuating said shoe along said linear bearing causes said yoke to urge said sleeve axially along said tool holder body, causing said multifunctional tool to rotate about said second axis, and engaging said collet locker.

20. The multifunctional tool of claim 1
wherein said tool tip locker comprises a locking sleeve, said locking sleeve having a detent, said detent being engagable to an indentation on said tool tip stator;
wherein when said detent is engaged to said indentation, rotational and axial movement about said first axis of said tool tip stator relative to said collet is restricted; and
wherein when said detent is disengaged from said indentation, said tool tip stator is capable of rotational and axial movement about said first axis relative to said collet.

21. The multifunctional tool of claim 20
i) wherein said detent is a ball bearing;
ii) wherein said collet has a hole that restricts axial, circumferential and inwardly radial movement of said ball bearing, but allows outwardly radial movement of said ball bearing; and
iii) wherein said locking sleeve is axially translatable along said first axis relative to said collet
iv) wherein said locking sleeve has a recess alignable with said ball bearing, such that
a) when said recess is not aligned with said ball bearing, said locking sleeve urges said ball bearing radially inwards, engaging said ball bearing to said indentation, and
b) when said recess is aligned with said ball bearing, said recess allows said ball bearing to move radially outwards, disengaging said ball bearing from said indentation.

22. The multifunctional tool of claim 21 wherein said locking sleeve is urged away from a position where said recess is aligned with said ball bearing by a spring.

23. The multifunctional tool of claim 22 wherein said tool tip locker further comprises at least one other spring that urges said locking sleeve away from said position where said recess is aligned with said ball bearing.

24. The multifunctional tool o

Assignees

• Macdonald Dettwiler & Ass Inc
• Macdonald Dettwiler & Associates Inc

Inventors

• Roberts Paul
• Bratsberg Stephen
• Rago Giuseppe

Classifications

• B25J15/0491

  comprising end-effector racks · CPC title

• B25J9/16 Primary

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B23Q3/155

  Arrangements for automatic insertion or removal of tools {, e.g. combined with manual handling (B23Q7/046 takes precedence)} · CPC title

• B25J15/04 Primary

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

• B23Q3/15526

  Storage devices; Drive mechanisms therefor · CPC title