In drawings illustrating by way of example only, embodiments of the invention:
With reference to
Robot 11 has a base 20 which can be securely connected to, or mounted on, for example, a frame or on a building floor with bolts (not shown) passing through bolt holes 33 in a base plate 201 and secured into the frame or floor.
Robotic arm 10 has a series of articulated arms sections that include a first arm section 18, a second arm section 16, and a third arm section 15. Robotic arm 10 may rotate at several pivoting connection or joint locations about a plurality of axes. In the embodiment illustrated in
Robot arm section 16 and arm section 18 may rotate relative to each other at a joint connection 121, about an axis 23. Third arm section 15 may be connected to arm section 16 at a joint connector 131 and these arm sections 15 and 16 may be configured to rotate relative to each other about an axis 24.
Third arm section 15 may have fixedly secured thereto a drive motor 75. Drive motor 75 may have a drive plate 29, which may be configured to rotate about an axis 25. Drive plate 29 may also be configured such that the mounting plate 40 of the rotary union connector 27 can be fixedly mounted thereto.
End effector 30 may be mounted to arm section 15 by having rotary union connector 27 disposed therebetween. The mounting plate 38 of rotary union connector 27 may be fixedly secured to hollow mounting block 191 of end effector 30 using bolts (not shown) which pass through holes 122a-d of plate 38 into mounting block 191.
The rotary union connector 27 has an outer housing 42 which is adapted for interconnection to vacuum supply lines 99a, 99b, with vacuum connectors 86a, 86b respectively. Vacuum supply lines 99a, 99b may have internal diameters of in the range of order of about 2.5 inches, although other sizes are contemplated. Vacuum supply lines 99a, 99b join at a T-junction 105 to main vacuum line 107, which is connected to a vacuum source (not shown). The vacuum supply lines typically may carry air having pressures in the range of about negative 100 inches of water.
In addition to handling the communication of vacuum the end effect to provide a suction air flow at the suction cups, rotary union connector 27 may also transmit pressurized air from pressurized air supply lines 151. Pressurized air is communicated from air lines 151 which may pass through or along the arm sections in known ways to arm section 15 where air lines may be interconnected to pressurized air inlets 50a, 50b. The air pressure in the air lines 151 may be in the order of about 80 psi. From air inlets 50a, 50b, two pressurized air channel flows are communicated to the end effector through rotary union connector 27, as described further hereafter.
With reference now to
Thus, a vacuum can be generated at each of the suction cups 33 on the pick up members by: communication of a vacuum flow from the suction cups 33 to each respective support block 195; then the vacuum flow may be communicated in separate flow paths from support blocks 195 through connecting tubes 197 into manifold 193. The vacuum manifold 193 may combine the separate vacuum flow paths from each of the support blocks 195 into two main vacuum flow paths. Each one of these two main vacuum flow paths may then be communicated to one of the two interior chambers in block 191, where the flow paths are then communicated to an inlet 70a, 70b, of one of the vacuum channels in the cylinder 35, as described below.
While a pitch adjusting mechanism is not for simplicity shown in the drawings, each pick up member 32 can move in such a manner that the pitch between adjacent suction cups can be varied. Various pitch-adjusting mechanisms are known in the art. A few examples of such mechanisms are disclosed in US Patent publication no. 2003/0235491 filed by Milos Misha Subotincic on Apr. 22, 2003 under application Ser. No. 10/420,075, the entire contents of which are hereby incorporated herein by reference.
With reference to
Outer housing 42 includes an outer air chamber 44a, primary outer vacuum chamber 44b, and secondary outer vacuum chamber 44c, which are fixedly interconnected to each other in a stacked arrangement. One or more of these components can be made from a suitable selected lightweight material. This allows for a relatively large sized outer housing 42 permitting relatively large inner vacuum channels, to be made which does not have unnecessary additional weight.
Rotary union connector 27 also may have an inner cylinder 35, which may include a cylinder head member 39, a pressurized air manifold 36a, a vacuum manifold 36b, and end effector mounting plate 38. Each of these components may be also interconnected in a stacked arrangement. As these components may be directly connected to the arm section 15 and end effector 30, and carry significant loads, particularly during operation, they may be made from a material which is stronger than the material from which the components of outer housing 42 are made. Examples of the materials from which one or more of the components of inner cylinder 35 may be made from metals, including steel, stainless steel, aluminum, as well as other suitable materials. These materials may also be relatively heavy (i.e. having a higher density) compared to the materials from which the outer housing 42 is made.
Thus, different materials may be selected for outer housing 42 compared to inner cylinder 35 to satisfy the overall design requirements/constraints.
As is illustrated in more detail in
Cylinder head member 39 may have a mounting plate 40, which may interconnect with flange drive plate 29 using bolts 299. Additional dowels 281 may be received into dowel holes 209 in plate 40 and corresponding holes in plate 29 to assist in providing additional rotational load bearing capacity and in alignment between the plates. Thus, when drive plate 29 is rotated by the drive motor 75 controlled by robot controller 100, inner cylinder 35 can rotate inside the outer housing 42.
As part of the stacked arrangement of inner cylinder 35, cylinder head member 39 may be fixedly connected to pressurized air manifold 36a with bolts 199 received in appropriate bolt holes 49, such that the head member 39 can be clamped onto the upper portion of pressurized air manifold 36a. Again, additional dowels 181 may be received into dowel holes in the mating surfaces of head member 39 and air manifold 36a to assist in providing additional rotational load bearing capacity and in alignment between the these members. A cylindrical slot 180 may be formed in cylindrical head member 39 to reduce the overall weight of the rotary union connector.
Similarly, pressurized air manifold 36a may be fixedly connected to vacuum manifold 36b by providing long bolts passing through corresponding bolt holes 59 (see
With respect to housing 42, outer air chamber 44a is fixedly connected to primary outer vacuum chamber 44b by use of dowels received in dowel holes in the mating surfaces in chambers 44a and 44b. While there is relatively little rotational load passed between air chamber 44a and vacuum chamber 44b, the dowels that may be received into dowel holes in the mating surfaces of air chamber 44a and vacuum chamber 44b may assist in ensuring alignment between the these components.
Additionally a downward facing surface of a flange 239 of cylinder 39 may be employed to press down on a top surface portion of air chamber 44a, to ensure that the outer housing 42 is securely held between bottom mounting plate 38 and cylinder head 39. However, there will not be so great a force exerted between the opposed surfaces that the rotation of cylinder 35 within the outer housing will be prevented.
Primary vacuum chamber 44b may be mounted on secondary vacuum chamber 44c in any suitable manner. As in the example embodiment illustrated in the Figs., two notches at the bottom of primary vacuum chamber 44b may be aligned with the corresponding two notches at the top of secondary vacuum chamber 44c. Two plates 144a and 144b may then be placed over bolt or screw holes 140a, 140b, 140c, and 140d. A long bolt or screw may then be inserted into the top shaft bounded by hole 140a and hole 140c. A second screw or bolt may be inserted similarly into the bottom shaft. An identical connection mechanism may be located on the opposite side of vacuum chambers 44b and 44c. Additional dowels may be received into dowel holes in the mating surfaces of vacuum chamber 44b and vacuum chamber 44c to assist in providing some assistance in ensuring alignment between the these components (see
Additionally, and as shown in detail in
Bottom plate 38 may also connected to the bottom surface of cylinder 35 by providing a slight recess for the cylinder to fit into, and may also include bolts 73a-d which pass up through the plate 38 into the bottom surface of vacuum manifold 36b. Dowels received in mating dowel holes in the adjacent surfaces on the plate 38 and manifold 36b may also be provided.
Vacuum hose 99a may be attached to vacuum connector 86a in a conventional way, for example, by securing on notches 46a with a straps (not shown). A secondary vacuum hose 99b may be similarly attached to vacuum connector 86b such as securing on notches 46b with a strap. The vacuum hoses 99a, 99b may follow a path from the connectors 86a, 86b to arm section 15 on to arm section 16 where they then join at T-connector 105. Main hose 107 then is connected to the vacuum source (not shown).
Pressurized air hoses (not shown) are in connected to air inlet connectors 50a, 50b which are in communication with channels in pressurized air chamber 44a. A channel can thus be provided as the hoses may follow a path from the connectors 50a, 50b to arm section 15 or to arm section 16 where they are then fed into the inner housing or chamber of arm section 15 or 16 and can then progress through the articulated arm sections or the robotic arm, to the source of pressurized air which may also be proximate the base 20 of robot 11.
Turning in particular to
With reference now to specifically
Likewise vacuum chamber 44c has a continuous axial cylindrical channel 80b formed therein. Vacuum connector 86b has a channel 88b that may be in communication with channel 80b. Vacuum channel 80b is in continuous communication with a vacuum channel 86b which may also run axially through vacuum manifold 36b, parallel to channel 86a, and may communicate vacuum to vacuum opening 70b. Each of the vacuum channels which pass through the vacuum chambers 44b, 44c, and vacuum manifold 36b may have a cross sectional diameter that is in the range of about 1.5 to about 2.5 inches.
The foregoing vacuum channels through cylinder 35 and housing 42 provide a communication of vacuum from the vacuum connectors 86a, 86b to the end effector 30.
Air inlet connectors 50a and 50b have channels, which are in communication air channels 91a, 91b formed in pressurized air manifold 44a. Air channels 91a, 91b are in continuous communication with the inlet to a pressurized air channel 90a, 90b respectively. Each air channel 90a, 90b runs axially through air manifold 36a and through vacuum manifold 36b, parallel to channels 86a and 86b, but each being spaced from each other. Air channels 90a, 90b thus run axially and the as shown in
In operation, controller 100 moves robotic arm 10 through movement of the articulated arm sections 15, 17 and 18. At a particular time, controller 100 may also cause drive plate 29 of drive motor 75 to rotate as well about axis 25 in either or both directions. Drive plate 29 is attached to mounting plate 49 on inner cylinder 35. Thus inner cylinder 35 will also rotate. Since end effector 30 is fixedly connected at the bottom of inner cylinder 35, it will also rotate. Housing 42 will not, however, receive any significant rotational load and thus will remain substantially stationary relative to the arm section 15.
When pressurized air is supplied through air inlets 50a and 50b, a pressurized air force is created in air chamber 44a. Pressurized air is then forced down through air channels 90a and 90b to air outlets 72a, 72b. Since both air channels 90a and 90b are in communication with air chamber 44a at all times, inner cylinder 35 may rotate while housing 42 remains stationary without interruption to the supply of the pressurized air.
Application of a vacuum flow works in a similar but reverse manner to the pressurized air. As suction is applied by the vacuum source, vacuum flow is drawn through vacuum channel 88a, and a vacuum air flow is created in vacuum channel 80a. Since vacuum channel 80a is also in communication with vacuum channel 86a, the vacuum flow is drawn through channel 86a from vacuum outlet 70a. The vacuum flow may remain uninterrupted when inner cylinder 35 rotates because vacuum channel 86a may be in communication with vacuum channel 80a at all times.
The secondary vacuum flow operates in a similar manner to the primary vacuum flow. As suction is applied by the vacuum source, vacuum flow is drawn through vacuum channel 88b, and a vacuum air flow is created in vacuum channel 80. Since vacuum channel 80b is also in communication with vacuum channel 86b, the vacuum flow is drawn through channel 86b from vacuum outlet 70b. The vacuum flow may remain uninterrupted when inner cylinder 35 rotates because vacuum channel 86b may be in communication with vacuum channel 80b at all times.
Since housing 42 may remain stationary, the pressurized air lines and vacuum hoses do not need to rotate, and hence they do not restrict the range of rotation of end effector 30 about axis 25.
Other embodiments of the present invention are possible and will be apparent to those skilled in the art. By way of example only, only one vacuum chamber may be provided with one corresponding vacuum manifold, along with related vacuum channels. Also, the particular stacking arrangement of the vacuum chambers and the air chamber, and corresponding positions of the vacuum and air manifolds in the inner cylinder can also be altered. Also, by way of further examples only, additional chambers may be mounted on the rotary union connector to provide additional supply lines. The example embodiment described herein has two sources of pressurized air and two vacuum sources. However, it may be possible to add additional vacuum sources by mounting additional vacuum chambers onto the present three chambers and modifying the internal cylinder accordingly. Additional sources of pressurized air may also be provided in a similar fashion.
In this document the use of the term “including” means “including without limitation” and is not to be construed to limit any general statement which it follows to the specific or similar items or matters immediately following it.
It will be further understood that the invention is not limited to the embodiments described and shown herein, which are deemed to be merely illustrative of the best modes of carrying out the invention, and which are susceptible to modification or form, size, arrangement of parts and details of operation. The invention, rather, is intended to encompass all such modifications which are within its spirit and scope as defined by the claims.