Safe robotic tool changer
AssigneeATI Industrial Automation, Inc.
InventorsKyle Zachary, Mack Earl Manning, Daniel Allen Norton
Life of this patent
Estimating the term…
Abstract
In an inherently safe robotic tool changer, a master unit couples to a tool unit via a first power source, and decouples from the tool unit using a separate, second power source. The second power source is only available when an attached tool is safely disposed in a tool stand. In embodiments where the first power source is not selectively applied, such as the constant bias provided by a spring, a detent mechanism maintains the master unit in a decoupled state when the master unit is removed from the tool unit. The detent mechanism allows the master unit to couple to a different tool unit upon physically abutting the new tool unit.
Claims22
A master unit of a robotic tool changer, comprising:
- a coupling mechanism configured to place the master unit in one of a coupled state and a decoupled state, wherein the coupled state is associated with the master unit being securely coupled to a tool unit of the robotic tool changer and the decoupled state is associated with the master unit being decoupled from a tool unit;
- wherein the master unit is operative to assume the decoupled state only in response to a tool attached to a coupled tool unit being disposed in a tool stand;
- and
- wherein the master unit is operative to remain in the decoupled state when decoupled from a tool unit, and is operative to assume the coupled state only in response to physical contact with a tool unit.
A method of operating a master unit of a robotic tool changer having a coupling mechanism configured to place the master unit in one of a coupled state and a decoupled state, the coupled state associated with the master unit being securely coupled to a tool unit of the robotic tool changer and the decoupled state associated with the master unit being decoupled from the tool unit, comprising:
- receiving, at the coupling mechanism, a mechanical force associated with a head of the tool unit;
- in response to receiving the mechanical force, releasing the master unit from the decoupled state;
- in response to releasing the master unit from the decoupled state, moving the master unit to the coupled state to securely couple the master unit to the tool unit;
- receiving, at the coupling mechanism, a second source of power from the tool unit;
- and
- in response to receiving the second source of power from the tool unit, placing the master unit in the decoupled state to decouple the master unit from the tool unit.
A tool unit of a robotic tool changer, comprising:
- a head configured to couple to a coupling mechanism of a master unit of the robotic tool changer so as to apply mechanical force to the coupling mechanism, wherein mechanical force is used to release the master unit from a decoupled state and allow the master unit to securely coupled to the tool unit;
- a fluid port configured to couple to a fluid receptacle of the master unit so as to apply a second source of power to the coupling mechanism, wherein the second source of power is used to place the master unit in a decoupled state and decoupled from the tool unit;
- and
- an alignment post configured to radially align the tool unit to the master unit of the robotic tool changer as the master and tool units couple so that the fluid port is disposed in and coupled to the fluid receptacle of the master unit.
A method of operating a tool unit of a robotic tool changer having a head, an alignment port and a fluid port,
- disposing the head in an opening of a master unit of the robotic tool changer when the master unit is in a decoupled state;
- coupling the head to a coupling mechanism of the master unit;
- disposing the alignment post in an alignment receptacle of the master unit so that the tool unit is radially aligned with the master unit with the fluid port disposed in a fluid receptacle of the master unit;
- applying mechanical force associated with the head to the coupling mechanism of the master unit to release the master unit from a decoupled state and allow the master unit to securely couple to the tool unit;
- and
- while coupled to the master unit, applying, from the fluid port of the tool unit, to the fluid receptacle of the master unit, a second source of power to the coupling mechanism of the master unit so that the master unit is placed into the decoupled position and decoupled from the tool unit.
Dependencies are inferred from the claim text.