Tool changer

Patent metadata

Field	Value
Publication number	US-9840010-B2
Application number	US-201514600275-A
Country	US
Kind code	B2
Filing date	Jan 20, 2015
Priority date	Jan 20, 2015
Publication date	Dec 12, 2017
Grant date	Dec 12, 2017

Abstract

A system, method, and apparatus for changing a set of old tools for a set of new tools may be presented. The system may comprise a crawler robot, a robotic arm, a tool changer, a vision system, and at least one of a tool rack or a storage area. The tool changer may be an end effector of the robotic arm. The tool changer may comprise a number of grippers and a number of movement assemblies. The number of grippers may perform at least one of moving a set of new tools to the crawler robot or removing the set of old tools from the crawler robot. The number of movement assemblies may be associated with the number of grippers. The vision system may be associated with at least one of the robotic arm and the tool changer.

First claim

What is claimed is:

1. A system comprising:
a crawler robot;
a robotic arm;
a tool changer that is an end effector of the robotic arm, the tool changer comprising:
a number of grippers, in which the number of grippers performs at least one of moving a set of new tools to the crawler robot or removing a set of old tools from the crawler robot; and
a number of movement assemblies associated with the number of grippers;
a vision system associated with at least one of the robotic arm and the tool changer; and
at least one of a tool rack or storage area.

2. The system of claim 1 , wherein the vision system may determine a location of the crawler robot.

3. The system of claim 1 , wherein the number of movement assemblies are configured to move the number of grippers relative to the crawler robot.

4. The system of claim 1 , wherein the at least one of the tool rack or storage area comprises a location to store the set of old tools after the set of old tools are removed from the crawler robot.

5. The system of claim 1 , wherein the at least one of the tool rack or storage area contains the set of new tools to be placed on the crawler robot.

6. The system of claim 1 , wherein the vision system comprises a three-dimensional camera system.

7. The system of claim 6 , wherein the three-dimensional camera system includes a first camera and a second camera.

8. A method of changing a set of old tools for a set of new tools, the method comprising:
moving a tool changer to a location relative to a crawler robot;
initiating a frame adjustment routine;
moving the tool changer to an adjusted frame from the frame adjustment routine;
determining a location of the crawler robot using the frame adjustment routine and a three-dimensional camera system;
determining an operating location based on the location of the crawler robot;
moving the tool changer to the operating location; and
transferring at least one of a set of new tools or a set of old tools between the tool changer and the crawler robot at the operating location.

9. The method of claim 8 further comprising:
aligning a three-dimensional camera system to a calibration plate;
initiating calibration software; and
moving the three-dimensional camera system to a number of different locations during calibration using a robotic arm.

10. The method of claim 9 further comprising:
aligning the three-dimensional camera system to a vision target on the crawler robot after calibration.

11. The method of claim 10 further comprising:
determining the location relative to the crawler robot using the three-dimensional camera system after aligning the three-dimensional camera system to the vision target on the crawler robot.

12. A tool changer comprising:
a number of grippers; and
a number of movement assemblies configured to move the number of grippers relative to a crawler robot;
wherein the number of movement assemblies comprises a rotating section;
wherein the number of grippers comprises:
a first set of grippers associated with the rotating section, in which the first set of grippers remove a set of old tools from the crawler robot; and
a second set of grippers associated with the rotating section, in which the second set of grippers inserts a set of new tools into the crawler robot.

13. The tool changer of claim 12 , wherein:
the number of movement assemblies further comprises:
a sliding section moveably connected to a base and to slidable relative to the base;
wherein the rotating section is moveably connected to the sliding section and rotatable relative to the base.

14. The tool changer of claim 13 , wherein the first set of grippers comprises a first gripper and a second gripper separated by a first distance.

15. The tool changer of claim 14 , wherein the second set of grippers comprises a third gripper and a fourth gripper separated by a second distance, and wherein the first distance and the second distance are substantially the same.

16. The tool changer of claim 13 , wherein the first set of grippers faces about 180 degrees from the second set of grippers.

17. The tool changer of claim 13 , wherein the first set of grippers faces about 90 degrees from the second set of grippers.

18. The tool changer of claim 13 , wherein a gripper in the first set of grippers has first features that engage second features in an old tool in the set of old tools.

19. The tool changer of claim 13 , wherein a gripper in the first set of grippers comprises arms, interface portions, and biasing members.

20. A method of changing a set of old tools for a set of new tools, the method comprising:
taking a set of new tools from a tool rack or storage area using a tool changer;
moving the set of new tools towards a crawler robot using the tool changer;
removing the set of old tools from the crawler robot using a first set of grippers associated with a rotating section of the tool changer;
rotating the rotating section such that a second set of grippers holding the set of new tools are in a position for installing the set of new tools on the crawler robot; and
inserting the set of new tools into the crawler robot using the second set of grippers.

21. The method of claim 20 , wherein the tool changer is an end effector for a robotic arm.

22. The method of claim 20 further comprising:
placing the set of old tools in a tool rack or a storage area after inserting the set of new tools into the crawler robot.

23. The method of claim 20 :
wherein moving the set of new tools towards a crawler robot using the tool changer comprises moving a sliding section of the tool changer towards the set of old tools on the crawler robot, in which the rotating section of the tool changer is associated with the sliding section.

24. The method of claim 23 further comprising:
moving the tool changer to a position relative to the crawler robot after taking the set of new tools from the tool rack or the storage area and prior to moving the sliding section of the tool changer.

25. The method of claim 23 further comprising:
detecting at least one of when a tool is in range of a gripper in one of the first set of grippers and the second set of grippers, a position of at least one of the sliding section or the rotating section, or a location of the crawler robot with a sensor system.

26. The method of claim 23 , wherein a movement system moves at least one of the sliding section or the rotating section.

27. The method of claim 23 , wherein a gripper in the first set of grippers has first features that engage second features in an old tool in the set of old tools.

28. The method of claim 23 , wherein the sliding section slides in a first direction towards the crawler robot and slides in a second direction away from the crawler robot when the tool changer is positioned relative to the crawler robot.

Assignees

• Boeing Co

Inventors

• Lee Tristan E
• Foisy David M

Classifications

• B23Q3/15713

  a transfer device taking a single tool from a storage device and inserting it in a spindle (B23Q3/15793 takes precedence) · CPC title

• B64F5/10

  Manufacturing or assembling aircraft, e.g. jigs therefor · CPC title

• Y10S901/47

  Optical · CPC title

• G05B2219/39468

  Changeable hand, tool, code carrier, detector · CPC title

• Y02P90/265

  Cross-Sectional Technologies · mapped topic