Adaptable end effector and method
AssigneeComau S.p.A.
InventorsVelibor Kilibarda, Bryan Finzel, Michael R. Dugas
Life of this patent
Estimating the term…
Abstract
An adaptable end effector useful to accommodate a wide variety of components, component geometries and variations in component geometries. In one example, the end effector includes a movable arm and at least three fingers each having a gripping tool for engagement of the component with variable and/or programmable holding force preventing relative movement.
Claims17
An adaptable end effector for use in grasping a component in a robotic assembly operation, the adaptable end effector comprising:
- a housing connected to a robot, the housing having an interior space;
- a base plate at least partially positioned in the housing interior space;
- a first arm connected to the base plate extending away from the base plate, the first arm including a first portion and a second portion positioned at a first distance from the first portion;
- a second arm connected to the base plate and positioned at a second distance from the first arm, the first distance perpendicular to the second distance, the second arm positioned along the first distance between the first arm first portion and the second portion, a portion of the second arm extending through the housing;
- an independent gripping tool connected to each of the first arm first portion, the first arm second portion and the second arm, each gripping tool defining a guide opening having angularly diverging first and second edge portions operable to engage a component positioned in the guide opening;
- and
- a drive device positioned within the housing interior space and connected to the base plate and one of the first or the second arm for selected movement of the first or the second arm relative the other of the first or the second arm along a path of travel, the drive device operable to selectively rotate the one of the first or the second arm about an axis of rotation relative to the other of the first or the second arm connected to the drive device to engage the component with the first arm and the second arm gripping tool first and second edge portions.
A method of engaging a component with an adaptable end effector for use in a robotic assembly operation, the method comprising the steps of:
- storing in a data memory storage device data for a plurality of different components intended to be engaged by an adaptable end effector having a first arm and a second arm, the data for each of the plurality of components including a predetermined rotational angle of travel for the second arm relative to the first arm based specific for each component;
- identifying a component intended to be engaged by the adaptable end effector;
- selecting from the stored in memory predetermined rotational angle of travel for the second arm for the identified component intended to be engaged by the adaptable end effector;
- positioning by a robot the adaptable end effector at a predetermined position relative to the identified component;
- energizing through a control unit a drive device connected to the second arm;
- rotating the second end arm about an axis of rotation the stored in memory predetermined rotational angle of travel for the identified component;
- and
- engaging the identified component with an independent gripping tool connected to each of the first arm and the second arm.
Dependencies are inferred from the claim text.