Collaborative robot hand bearing for high-torque tightening applications
AssigneeToyota Motor Engineering & Manufacturing North America, Inc.
InventorKeith J. Wells
Life of this patent
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Abstract
An apparatus for coupling a robot arm to a tool that is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume. The apparatus includes a tool sleeve configured to accept the tool, a freely rotating rotary fitting coupled to the tool sleeve, and a coupling that couples a distal end of the robot arm to the rotary fitting. When the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm, such that a motion of the distal end of the robot arm does not impose a torque between the robot arm and the tool around the rotational axis, and such that motion of the distal end of the robot arm repositions or reorients the tool within at least a portion of the working volume.
Claims20
An apparatus for coupling a robot arm to a tool, comprising:
- a tool sleeve configured to accept the tool, wherein the tool is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume;
- a rotary fitting coupled to the tool sleeve, the rotary fitting freely rotating around a rotational axis;
- and
- a coupling that couples a distal end of the robot arm to the rotary fitting,
- wherein when the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm, such that a motion of the distal end of the robot arm does not impose a torque between the robot arm and the tool around the rotational axis, and such that the motion of the distal end of the robot arm repositions or reorients the tool within at least a portion of the working volume.
A method for coupling a robot arm to a tool, comprising:
- providing a tool sleeve configured to accept an inserted tool, wherein the tool is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume;
- coupling to the tool sleeve a rotary fitting that freely rotates around a rotational axis;
- and
- coupling a distal end of the robot arm to the rotary fitting,
- such that when the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm,
- such that motions of the distal end of the robot arm do not impose a torque between the robot arm and the tool around the rotational axis, and
- such that the motions of the distal end of the robot arm will reposition or reorient the tool within at least a portion of the working volume.
A system for automating a manufacturing operation, comprising:
- a tool;
- an unpowered zero-balance ergonomic arm supporting the tool and capable of 3D motion of the tool within a working volume;
- a collaborative robot comprising a robot arm;
- a tool sleeve configured to receive the tool;
- a rotary fitting that freely rotates around a rotational axis and is coupled to the tool sleeve;
- and
- a quick-release coupling that couples a distal end of the robot arm to the rotary fitting,
- such that when the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm,
- such that motions of the distal end of the robot arm do not impose a torque between the robot arm and the tool around the rotational axis, and
- such that the motions of the distal end of the robot arm will reposition or reorient the tool within at least a portion of the working volume.
Dependencies are inferred from the claim text.