A tool engagement coupling system and associated method
AssigneeBAE SYSTEMS plc
InventorsLucas Benson, Lee Stephen Parkinson, Craig Philip Turnbull, Peter Neville Whiteside
Life of this patent
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Abstract
A tool engagement coupler configured to deliver a tool at a working position on a workpiece, the tool engagement coupler further being moveable by a robotic arm to engage with a locator at the working position. The tool engagement coupler includes an engagement member having a first predetermined shape adapted to engage with the locator having a second predetermined shape. The tool engagement coupler is adapted to be moved by the robotic arm based on a decreasing level of spatial tolerance as the engagement member approaches the locator based at least in part on the first predetermined shape and the second predetermined shape.
Claims25
A tool engagement coupler configured to deliver a tool at a working position on a workpiece, the tool engagement coupler further being moveable by a robotic arm in at least one of a plurality of movement axes comprising an x axis, a y axis, a z axis, a roll axis, a pitch axis, and a yaw axis to engage with a locator at the working position;
- wherein the tool engagement coupler includes an engagement member having a first predetermined shape adapted to engage with a second predetermined shape of the locator;
- wherein the tool engagement coupler is adapted to be moved by the robotic arm based on a decreasing level of spatial tolerance as the engagement member approaches the locator, said level of spatial tolerance being based at least in part on the first predetermined shape and the second predetermined shape.
The tool engagement coupler of 10, wherein the locking components are configured to orient the first and second shapes such that the central opening is aligned with the working position.
The tool engagement coupler of 10, wherein the second predetermined shape comprises a bowl portion and a lip configured for receiving the locking components.
A locator configured to guide a tool engagement coupler to a working position, wherein the tool engagement coupler comprises an engagement member having a first predetermined shape, and wherein the tool engagement coupler is movable by a robotic arm, the locator comprising:
- a tool opening configured to receive the engagement member;
- and
- a second predetermined shape configured to engage with the first predetermined shape;
- wherein the engagement of the first predetermined shape and the second predetermined shape decreases the level of spatial tolerance of movement of the robotic arm as the engagement member approaches the locator.
A method for delivering a tool to a work position on a workpiece, the method comprising:
- moving a tool engagement coupler towards a locator located at the work position for engagement therewith;
- determining a distance of the tool engagement coupler from the locator;
- and
- moving the tool engagement coupler into engagement with the locator;
- wherein the engagement comprises engagement of a first predetermined shape of an engagement member of the tool engagement coupler and a second predetermined shape of the locator;
- and wherein moving the tool engagement coupler comprises decreasing a level of spatial tolerance as the engagement member approaches the locator based, said level of spatial tolerance being based, at least in part on the first predetermined shape and the second predetermined shape.
Dependencies are inferred from the claim text.