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US 12,576,522 B2Granted
Drum coupling automation robot and drum coupling automation method
AssigneesSamsung Electronics Co., Ltd., Industry-Academic Cooperation Foundation of Kyungnam University
InventorsShibaek Park, Hansung Kim, Sunghun Jeong
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Abstract
A drum coupling automation robot includes a robot, a robot arm attached to the robot, a coupler gripper connected to the robot arm, a force and torque sensor connecting one end of the robot arm to the coupler gripper and measuring force and torque applied to the coupler gripper, a vision sensor attached to the force and torque sensor, and a control circuit electrically connected to the robot, the robot arm, the coupler gripper, the force and torque sensor, and the vision sensor.
Claims20
A drum coupling automation robot comprising:
- a robot;
- including a robot arm;
- a coupler gripper connected to the robot arm;
- an adaptation device including a force and torque sensor and connecting one end of the robot arm to the coupler gripper and configured to measure force and torque applied to the coupler gripper,
- wherein the coupler gripper includes:
- a body unit connected to one end of the adaptation device,
- a finger configured to hold a portion of a coupler, wherein the coupler is provided with a coupler key code that is engaged with a drum key code provided with a drum hole of a drum,
- a first roller engaged with the coupler key code of the coupler, wherein the first roller engaged with the coupler key code of the coupler is configured to rotate, and
- a second roller engaged with a coupler nut provided with the coupler, wherein the second roller engaged with the coupler nut of the coupler is configured to rotate to fasten the coupler nut to the drum hole;
- a vision sensor attached to the adaptation device;
- and
- a control circuit electrically connected to the robot, the coupler gripper, the force and torque sensor, and the vision sensor.
9 more elements
A drum coupling automation method comprising:
- moving a drum coupling robot with a robot arm to a drum, wherein the robot arm is connected to a coupler gripper;
- gripping a coupler using the coupler gripper;
- inserting the coupler into a drum hole of the drum using the coupler gripper;
- coupling a coupler key code of the coupler with a drum key code of the drum using the coupler gripper;
- and
- fastening a coupler nut of the coupler to the drum hole using the coupler gripper.
3 more elements
A drum coupling automation robot comprising:
- a robot including a first robot arm and a second robot arm;
- a first adaptation device connected to the first robot arm;
- a second adaptation device connected to the second robot arm;
- a first coupler gripper coupled to a first end of the first robot arm through the first adaptation device;
- a second coupler gripper coupled to a second end of the second robot arm through the second adaptation device,
- wherein the first adaptation device is disposed in a space between the first coupler gripper and the first end of the first robot arm and includes:
- a fixed platform connected to the first end of the first robot arm;
- a mobile platform connected to the first coupler gripper;
- an elastic member connected to the fixed platform and the mobile platform;
- a damper connected to the fixed platform and the mobile platform;
- and
- a first force and torque sensor disposed in a space between the fixed platform and the mobile platform and configured to measure force and torque applied to the first coupler gripper, wherein the force and torque applied to the first coupler gripper is transmitted from the first coupler gripper to the first force and torque sensor through the damper and the elastic member, and
- wherein the second adaptation device is disposed in a space between the second coupler gripper and the second end of the second robot arm and includes a second force and torque sensor configured to measure force and torque applied to the second coupler gripper;
- two or more vision sensors attached to each of the first adaptation device and the second adaptation device;
- and
- a control circuit connected to the robot, the first robot arm, the second robot arm, the first coupler gripper, the second coupler gripper, the first force and torque sensor, the second force and torque sensor, and the two or more vision sensors attached to each of the first force and torque sensor and the second force and torque sensor.
13 more elements
Dependencies are inferred from the claim text.