# US 8,769,786 B1 · Trim and flame robot end effector with optional automatic blade change feature > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,769,786 B1 - Document ID: US8769786B1 - Status: Granted - Kind: B1 - Application number: 12/410,054 - Filed: 2009-03-24 - Granted: 2014-07-08 - Earliest claimed: 2009-03-24 - Assignees: Honda Motor Co., Ltd. - Applicants: Ryan Alexander; Lonnie Thompson; Rob Howells; Erik Aisel; Darin Wells; Gary Flavell; Chris Easton; Diana Bush - Inventors: Ryan Alexander; Lonnie Thompson; Rob Howells; Erik Aisel; Darin Wells; Gary Flavell; Chris Easton; Diana Bush - Web page: https://patentgrep.com/patent/US8769786B1 ## CPC - B25J 11/006: {Deburring or trimming} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - B25J 15/0491: {comprising end-effector racks} - Y10T 29/5116: forging and bending, cutting or punching - Y10T 29/5168: Multiple-tool holder - Y10T 29/5182: Flash remover - Y10T 483/17: including machine tool or component - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A combination trimming/flame treatment end effector adapted for mounting to the end of a robotic arm. A trimming blade extends from a main body portion of the end effector for performing a trimming operation. The trimming blade may be mounted in an exchangeable cartridge to facilitate blade changing. Also extending from the main body portion is a flame treatment element for performing a flame treatment operation. The flame treatment element generally comprises a torch or burner. Because both the trimming blade and the flame treatment element are part of the same end effector, the robot simply manipulates the end effector such that the desired one of the trimming blade or the flame treatment element is properly positioned for use. As such, a tooling change can be avoided. While not restricted thereto, it is contemplated that an end effector of the present invention may be used to process vehicle bumper fascias. ## Claims ### Claim 1 A combination robot end effector, comprising: a main body portion having a first end adapted for attachment to an end of a robot arm; a trimming device comprising a slicing blade releasably affixed to said main body portion so as to extend from a second end thereof, said trimming device releasably affixed to said main body portion via a cartridge retention assembly that includes an actuator located within the main body portion; a burner affixed to and extending from near said second end of said main body portion, said burner extending from said main body portion at a diverging angle to said trimming device; wherein said trimming device and said burner can be selectively used to respectively trim and flame treat an article of interest. ### Claim 2 (depends on 1) The end effector of claim 1, further comprising a mounting plate for attaching said first end of said main body portion to the end of the robot arm. ### Claim 3 (depends on 1) The end effector of claim 1, wherein said main body portion has a substantially hollow interior. ### Claim 4 (depends on 1) The end effector of claim 1, wherein said slicing blade is retained in an exchangeable cartridge. ### Claim 5 (depends on 4) The end effector of claim 4, wherein said cartridge retention assembly includes a cartridge retention slot for receiving a shank of said exchangeable cartridge. ### Claim 6 (depends on 5) The end effector of claim 5, further comprising a cartridge retention mechanism for retaining the exchangeable cartridge in said cartridge retention slot, said cartridge retention mechanism including a clamping element driven by the actuator into retaining contact with said shank of said exchangeable cartridge. ### Claim 7 (depends on 6) The end effector of claim 6, further comprising a slot in said shank of said exchangeable cartridge, said slot in said shank for receiving said clamping element when said cartridge retention mechanism is in a clamped position. ### Claim 8 (depends on 4) The end effector of claim 4, further comprising a blade retention element for retaining said slicing blade in said exchangeable cartridge. ### Claim 9 (depends on 8) The end effector of claim 8, wherein said blade retention element is a spring-loaded pin that extends through a corresponding hole in said slicing blade. ### Claim 10 (depends on 1) The end effector of claim 1, wherein said burner includes a head portion that extends from said main body portion, said head portion enclosing a nozzle from which a flame is emitted. ### Claim 11 (depends on 1) The end effector of claim 1, wherein said burner extends from said main body portion at an angle of approximately 45° to said trimming device. ### Claim 12 A combination trimming and flame treatment robot end effector, comprising: a substantially hollow main body portion having a first end adapted for attachment to an end of a robot arm; a cartridge retention assembly associated with said main body portion; a trimming device comprising a trimming blade mounted within an exchangeable cartridge, said exchangeable cartridge having a shank that is releasably received within a cartridge retention slot of said cartridge retention assembly, said trimming device oriented such that said trimming blade extends from a second end of said main body portion; an cartridge retention mechanism located within said main body portion for exchangeably retaining said exchangeable cartridge in said cartridge retention slot, said cartridge retention mechanism including a clamping element driven by a powered actuator into retaining contact with said shank of said exchangeable cartridge, said powered actuator being secured to the main body portion; a burner affixed to and extending from near said second end of said main body portion, said burner extending from said main body portion at a diverging angle to said trimming device; wherein said trimming device and said burner can be selectively used to respectively trim and flame treat an article of interest. ### Claim 13 (depends on 12) The end effector of claim 12, further comprising a slot in said shank of said exchangeable cartridge, said slot in said shank for receiving said clamping element when said cartridge retention mechanism is in a clamped position. ### Claim 14 (depends on 12) The end effector of claim 12, further comprising a trimming blade retention element for retaining said trimming blade in said exchangeable cartridge. ### Claim 15 (depends on 14) The end effector of claim 14, wherein said trimming blade retention element is a spring-loaded pin that extends through a corresponding hole in said trimming blade. ### Claim 16 (depends on 12) The end effector of claim 12, wherein said burner extends from said main body portion at an angle of approximately 45° to said trimming device. ### Claim 17 A robot end effector, comprising: a body securable to a robot arm and shaped to receive a portion of a trimming device, the trimming device including an exchangeable cartridge having a shank and being selectively operable to trim an article of interest when the trimming device is secured to the body; a burner secured to the body, the burner selectively operable to flame treat the article of interest; a cartridge retention assembly secured to the body and having a cartridge retention slot adapted to receive the shank of the trimming device; and a retention mechanism associated with the body and comprising: a pivoting clamping element moveable between a clamped position where a first end of the clamping element is in pressing contact with the shank of the trimming device while the shank resides in the cartridge retention slot to secure the trimming device to the body, and an unclamped position where the first end of the clamping element is rotated away from the shank so as to release the trimming device from the body, and an actuator secured to the body and coupled to a second end of the clamping element, the actuator selectively operable to pivot the clamping element between the clamped position and the unclamped position. ### Claim 18 (depends on 17) The robot end effector of claim 17, wherein said trimming device includes a trimming blade that is retained in said exchangeable cartridge. ### Claim 19 (depends on 17) The robot end effector of claim 17, wherein said retention mechanism is located in a space within said body. ### Claim 20 (depends on 17) The robot end effector of claim 17, further comprising a slot in said shank of said exchangeable cartridge, said slot located and adapted such that the pressing contact between said clamping element and said shank will occur against a wall of said slot.