The present invention relates generally to gripping devices configured to grip a tool and, more specifically, to gripping devices that supply one or more utilities to a tool that is being gripped.
In many robotic manufacturing applications, it is cost-effective to utilize a robot, such as a generic robot arm, to accomplish a variety of tasks. For example, in an automotive manufacturing application, a robot may be utilized to cut, grind, or otherwise transfer parts during one phase of production, and perform a variety of welding tasks in another. Different welding tool geometries may be advantageously mated to a particular robot arm to perform welding tasks at different locations or in different orientations.
In these applications, a robotic tool changer is used to mate different robotic tools to the robot. One half of the tool changer, called the master unit, is permanently affixed to a robot arm. The other half, called the tool unit, is affixed to each robotic tool that the robot may utilize. The various robotic tools a robot may utilize are typically stored, within the range of motion of the robot arm, in tool stands which are sized and shaped to hold each tool securely when not in use. When the robot positions the master unit, on the end of the robot arm, adjacent to a tool unit connected to a desired robotic tool sitting in a tool stand, a coupling mechanism is actuated that mechanically locks the master and tool units together, thus affixing the robotic tool to the end of the robot arm. The tool changer thus provides a consistent mechanical interface between a robot arm and a variety of robotic tools. A tool changer may also pass utilities to a robotic tool. The tool changer can also provide utilities, such as electrical current, air pressure, hydraulic fluid, cooling water, electronic or optical data signals, and the like, to the attached tools for operation.
One type of robotic tool used with a robot is a gripping device that includes fingers that are movable between open and closed positions to grip a tool. Current operations are inefficient when using the gripping device with a tool changer because the operations require an excess amount of movement of the robot as well as excessive engagements and disengagements of tools from the robot. Options for reducing the inefficiencies are difficult because of the need to pass utilities to the attached tools to provide for operation of the tools.
The Background section of this document is provided to place embodiments of the present invention in technological and operational context, to assist those of skill in the art in understanding their scope and utility. Unless explicitly identified as such, no statement herein is admitted to be prior art merely by its inclusion in the Background section.
The following presents a simplified summary of the disclosure in order to provide a basic understanding to those of skill in the art. This summary is not an extensive overview of the disclosure and is not intended to identify key/critical elements of embodiments of the invention or to delineate the scope of the invention. The sole purpose of this summary is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later.
One aspect is directed to a gripping device for use with a robot to use a tool. The gripping device comprises a body configured to be connected to the robot, a grip comprising a plurality of fingers that extend from the body with the grip movable between an open orientation with the plurality of fingers being spaced a first distance apart and a closed orientation with the plurality of fingers being spaced a smaller second distance apart to grasp the tool, and one or more utility connectors that extend through one or more of the fingers and to provide one or more utilities to the tool when the grip is in the closed orientation.
In another aspect, each of the plurality of fingers is movable relative to the body.
In another aspect, one or more of the plurality of fingers is movable relative to the body and one or more of the plurality of fingers are stationary relative to the body.
In another aspect, each of the fingers comprises at least one utility connector.
In another aspect, each of one or more utility connectors comprises an indent on an inner surface of the finger to receive a protrusion on the tool, and a connection valve on an outer surface of the finger to connect to a utility line.
In another aspect, one or more alignment protrusions extend outward from the fingers to contact against and align the tool relative to the plurality of fingers.
In another aspect, one or more of the fingers comprise a fluid channel that extends through an interior of the finger and is spaced away from the one or more utility connectors.
In another aspect, a control unit with a processing circuit is configured to control the position of the plurality of fingers and to control a supply of the one or more utilities that are supplied to the tool through the one or more utility connectors.
In another aspect, a first one of the utility connectors supplies electricity to the tool and a second one of the utility connectors supplies hydraulic fluid to the tool.
One aspect is directed to a gripping device for use with a robot to use a tool. The gripping device comprises a body, a plurality of fingers that extend from the body with each of the fingers comprising an inner side and an outer side, and one or more utility connectors on one or more of the plurality of fingers. Each of the utility connectors comprises a channel that extends through the finger with a first end at the inner side of the finger and an second end at the outer side of the finger, a port at the first end of the channel to engage with the tool, and a connection member at the second end to connect to a utility line that supplies a utility. The plurality of fingers forming a grip that is adjustable between an open orientation with the plurality of fingers spaced apart by a first distance and a closed orientation with the plurality of fingers in closer proximity than the first distance to grip the tool.
In another aspect, each of the fingers comprises at least one utility connector.
In another aspect, at least two of the fingers comprise a first utility connector to supply a first utility to the tool and a second utility to supply a different second utility to the tool.
In another aspect, at least one of the fingers comprises one or more fluid channels that extend through the finger with each of the fluid channels comprising an inlet and an outlet on the finger and are spaced away from the one or more utility connectors.
In another aspect, two or more of the channels extend through at least one of the fingers with the two or more channels being spaced apart within the interior of the fingers.
One aspect is directed to a method of gripping a tool. The method comprises: positioning fingers on opposing sides of the tool with the fingers being connected to a robot; closing the fingers and gripping the tool with the fingers; engaging one or more utility connectors on one of more of the fingers with corresponding receptacles on the tool; while the fingers are closed on the tool, moving one or more utilities to the tool through the one or more utility connectors in the one or more fingers; and operating the tool while the fingers are gripping the tool and the one or more utilities are being supplied to the tool through the one or more utility connectors.
In another aspect, the method comprises moving the fingers away from the tool and disengaging the one or more utility connectors from the corresponding receptacles and preventing the one or more utilities from being supplied to the tool.
In another aspect, the method comprises supplying a first utility and a second utility to the tool through two or more of the fingers.
In another aspect, the method comprises supplying a fluid to one or more channels in the fingers and dispensing the fluid onto an item that is being acted on by the tool.
In another aspect, closing the fingers and gripping the tool with the fingers comprises one or more of the fingers remaining stationary while one or more of the fingers moves together.
In another aspect, moving the one or more utilities to the tool through the one or more utility connectors in the one or more fingers comprises moving hydraulic fluid through the one or more utility connectors.
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. However, this invention should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout. Accordingly, terms of reference such as up, down, left, right, vertical, horizontal, and the like, which are used herein for clarity of expression, apply only to the orientation of elements in the drawings and are hence relative, and not absolute, directions. Naturally, in use, the elements depicted in the drawings may assume any orientation or be viewed from a different perspective.
The present application is directed to a gripping device with fingers configured to grip a tool. The fingers are further equipped to supply one or more utilities to the tool while being gripped. The one or more utilities provide for the tool to operate while being gripped by the fingers.
The gripping device 10 is configured to be connected to and operated by a robot 120. The gripping device 10 can be used with a wide variety of robots 120 that provide for attachment, movement, and operation. The robots 120 can provide a variety of different movements and positions for the gripping device 10 to perform the specific tasks.
One or more utility lines 125 extend from the robot 120 and into the gripping device 10 to supply one or more utilities that are transferred to the tool 100.
Returning to
In one example as illustrated in
In another example, a limited number of fingers 30 move relative to the body 20.
In one example as illustrated in
The fingers 30 can move relative to the body 20 in a variety of different manners.
The fingers 30 can be powered in different manners. In one example, gears in the body 20 are rotated to cause movement of the fingers 30. In another example, the fingers 30 are powered by pneumatic or electrical actuators to move between the open and closed orientations. Each of the fingers 30 can be powered in the same manner, or two or more of the fingers 30 can be powered in different manners.
The fingers 30 are further configured to supply one or more utilities to a gripped tool 100. The utilities are supplied through the one or more utility connectors 90 with the one or more channels 60 that extend through the fingers 30.
One or more alignment features 34 positioned on the inner side 32 of the fingers 30 engage with corresponding alignment features 102 on the tool 100. The alignment features 34, 102 can include various complementary projections and receptacles that engage together when the fingers 30 grip the tool 100.
One or more alignment members 34 are positioned to contact against and position the tool 100 between the fingers 30 in the open configuration. As illustrated in
The tool 100 can include various devices that require one or more utilities to operate. Examples include but are not limited to drills, saws, gripping devices, and grinders. The tools 100 can require one or more utilities, such as electrical current, air pressure, hydraulic fluid, cooling water, electronic or optical data signals, and the like, for operation.
Fingers 106 are connected to the body 105. One or more of the fingers 106 are movable relative to the body 105 to move between open and closed positions to grip an item. The fingers 106 can have various numbers and movements the same as those stated above for fingers 30. In one example, the gripping tool 100 provides for effectively gripping and moving smaller items than the fingers 30. In another example, fingers 106 may provide lesser holding force to the item which facilitates movement of fragile items 200 (e.g., produce, electrical circuitry).
The one or more utilities provided to the tool 100 can be the same as those required to operate the robot 120. In another example, one or more of the utilities provided to the tool 100 are different than those required to operate the robot 120.
The gripping device 10 is also configured to supply a fluid to an item 200 that is held by the tool 10. As illustrated in
The fluid is directed to the item 200 and does not pass through or into the tool 100 that is being gripped by the gripping device 10. This configuration provides for the fluid to contact the item 200 while it is being gripped or otherwise treated by the tool 100. This prevents the gripping device 10 having to move the item 200 to a separate location for treatment. For example, this prevents having to transport the item 200 to a wash facility. The input lines 85 can extend from the robot 120, or can be separate from the robot 120. Various fluids can be used within this configuration, including but not limited to water, air, cleaning solution, paint, and sealant.
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For simplicity and illustrative purposes, the present invention is described by referring mainly to an exemplary embodiment thereof. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be readily apparent to one of ordinary skill in the art that the present invention may be practiced without limitation to these specific details. In this description, well known methods and structures have not been described in detail so as not to unnecessarily obscure the present invention.
The present invention may be carried out in other ways than those specifically set forth herein without departing from essential characteristics of the invention. The present embodiments are to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.