# US 9,517,502 B2 · Tool head, with wireless monitoring system, for performing industrial operations > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,502 B2 - Document ID: US9517502B2 - Status: Granted - Kind: B2 - Application number: 14/316,965 - Filed: 2014-06-27 - Published: 2015-01-01 - Granted: 2016-12-13 - Earliest claimed: 2013-07-01 - Assignees: Comau S.p.A. - Applicants: Comau S.p.A. - Inventors: Giovanni Di Stefano; Mauro Maestri; Valeria Serpi - Web page: https://patentgrep.com/patent/US9517502B2 ## CPC - B21D 39/023: {using rollers} - B23K 37/0258: {Electric supply or control circuits therefor} - B23P 19/04: for assembling or disassembling parts - B25J 11/005: {Manipulators for mechanical processing tasks} - B25J 13/006: {by means of a wireless system for controlling one or several manipulators} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 15/0019: {End effectors other than grippers} - B25J 19/0045: {Contactless power transmission, e.g. by magnetic induction} - G05B 2219/33192: Radio link, wireless - B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F) - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system for performing industrial operations comprises at least one tool head provided with a tool and at least one sensor associated to the tool head. The system further comprises a control module mounted on the tool head including a data-acquisition unit connected to the sensor configured for acquiring the data coming from said at least one sensor, and a wireless transmission unit connected to the acquisition unit for receiving the aforesaid acquired data and for transmitting the data acquired to a receiving unit in a wireless mode. The module further comprises a device for storing electrical energy for electrical supply of the control module. The system further comprises a wireless charging system for charging the device for storing electrical energy comprising a first charging device carried by the tool head and connected to the energy-storage device and a second charging device associated to a stationary workstation. ## Claims ### Claim 1 A system for performing industrial operations, comprising: a multi-axis industrial robot including a base structure, an articulated robot wrist, and a chain of mutually articulated robot elements that connect said base structure to said robot wrist; at least one clinching head provided with a clinching tool, the clinching head comprising: an assembly carrying at least one clinching roller, said roller-carrying assembly being mounted at the bottom end of an outer cylindrical body slidably mounted on an inner cylindrical body having a top end provided with a flange for connection to the wrist of the robot and a bottom end; a top helical spring and a bottom helical spring set aligned coaxially within said inner cylindrical body, the more distant ends of said top and bottom springs being applied against end elements of said inner cylindrical body, the mutually contiguous ends of said top and bottom springs resting on opposite faces of an intermediate resting element that is rigidly connected to said outer cylindrical body via supporting pins diametrically opposite to one another rigidly connected to said outer cylindrical body and set through longitudinal slits of said inner cylindrical body, said top and bottom springs being provided with a spring-guide stem set axially through said springs and through said intermediate resting element, the more distant ends of said top and bottom springs reacting against the respective top and bottom end elements of the inner cylindrical body with interposition of two force sensors; said clinching head is removably connected to said robot wrist, the two force sensors adapted to detect a load applied on the clinching tool carried by said clinching head during a clinching operation; a control unit for controlling operation of said clinching head; a control module mounted on said clinching head, the control module further comprising: a data-acquisition unit connected to said two force sensors and adapted for acquiring data coming from said two force sensors; and a wireless transmission unit connected to said acquisition unit for receiving the aforesaid acquired data and adapted for transmitting said acquired data in a wireless mode to a wireless receiving unit remote from the clinching head; a device for storing electrical energy for electrical supply of said data acquisition unit, of said wireless transmission unit, and of said two force sensors; and wireless means for charging said device for storing electrical energy, the means for charging including inductive charging means comprising: first charging means carried by said clinching head and connected to said device for storing electrical energy; and second charging means connected to a workstation remote from the clinching head and co-operating in a wireless mode with said first charging means. ### Claim 2 (depends on 1) The system according to claim 1, wherein said force sensors are connected by means of respective cables to the aforesaid acquisition unit forming part of said control module, said control module being mounted on said inner cylindrical body. ### Claim 3 (depends on 1) The system according to claim 1, further comprising first screw means for adjustment of the load of said bottom spring and second screw means for adjustment of the load of said top spring. ### Claim 4 (depends on 1) The system according to claim 1, wherein the bottom spring bottom end further comprises a cylindrical skirt having a shaped slit co-operating with a diametric pin projecting from said spring-guide stem to enable mounting via bayonet coupling of said resting disk on the bottom end of said spring-guide stem. ### Claim 5 (depends on 3) The system according to claim 3, wherein each of said first and second screw adjustment means comprise a screw rotatably mounted in an axially fixed position on a respective one of said top and bottom end elements of said inner cylindrical body, and an internally threaded bushing, prevented from turning with respect to the end element and engaged by said screw, said bushing being moreover engaged on a threaded shank of a force sensor associated to the respective spring. ### Claim 6 (depends on 1) The system according to claim 1, further comprising first screw means for adjustment of the load of said bottom spring and second screw means for adjustment of the load of said top spring. ### Claim 7 (depends on 2) The system according to claim 2, wherein the bottom spring bottom end further comprises a cylindrical skirt having a shaped slit co-operating with a diametric pin projecting from said spring-guide stem to enable mounting via bayonet coupling of said resting disk on the bottom end of said spring-guide stem. ### Claim 8 A system for performing clinching operations, the system comprising: a multi-axis industrial robot including a base structure, an articulated robot wrist, and a chain of mutually articulated robot elements that connect said base structure to said robot wrist; at least one clinching head provided with a clinching tool, the clinching head further comprising: an assembly carrying at least one clinching roller, said roller-carrying assembly being mounted at the bottom end of an outer cylindrical body which is slidably mounted on an inner cylindrical body having a top end provided with a flange for connection to the wrist of the robot; two springs arranged within said inner and outer cylindrical bodies so as to react to relative sliding movements between said inner and outer cylindrical bodies in two opposite directions, respectively, at least one load sensor interposed between one of said springs and one of said inner or outer cylindrical bodies so as to detect a load applied on the at least one clinching roller carried by said roller-carrying assembly while the clinching head advances relative to a piece during a clinching operation; a control unit for controlling operation of said clinching head; a control module mounted on said clinching head, the control module further comprising: a data-acquisition unit connected to said at least one load sensor and adapted for acquiring data coming from said sensor; and a wireless transmission unit connected to said acquisition unit for receiving the aforesaid acquired data and adapted for transmitting said acquired data in a wireless mode to a wireless receiving unit remote from the clinching head; an electronic processing unit adapted to process data coming from said wireless receiving unit and from said control unit during an operating cycle of said robot in which said clinching head performs a clinching operation on a piece, the electronic processing unit being configured to process data received from the wireless receiving unit indicating the load detected by the at least one sensor while the clinching head advances relative to said piece during the clinching operation, said electronic processing unit being further adapted to associate said load data received from the wireless receiving unit to information received from the control unit during the clinching operation, so that a correlated information is obtained on the load on said at least one clinching roller of the clinching head during the clinching operation, as a function of a position of the clinching head during its movement relative to the piece; a device for storing electrical energy for electrical supply of said data acquisition unit, of said wireless transmission unit, and of said force sensor; and a wireless inductive charging device for charging said device for storing electrical energy, the charging device comprising: a first charging device carried by said clinching head connected to the robot wrist, the first charging device connected to said device for storing electrical energy; and a second charging device connected to a workstation remote from the clinching head and co-operating in a wireless mode with said first charging means. ### Claim 9 A method for performing a material deforming clinching operation for use with a multi-axis industrial robot having a robot wrist, a clinching tool having an outer cylinder connected to the clinching tool and an inner cylinder removably connected to the robot wrist and coaxially positioned and axially movable with respect to the outer cylinder, the clinching tool further having a first and a second spring axially aligned and connected to the inner cylinder and a first load sensor in communication with one of the springs, the method comprising the steps of: moving the robot and connected clinching tool into contact with a piece through a control unit; compressing one of the first and second springs to apply a predetermined compressive force on the piece by the tool through the control unit; advancing the clinching tool along a predetermined path on the piece; continually measuring the applied compressive force by the first load sensor; generating applied compressive force data through a data acquisition unit (A) in a control module mounted to the clinching tool; wirelessly transmitting the measured compressive force data from a wireless transmission unit in the control module to a wireless receiving unit positioned remotely from the robot and connected clinching tool; correlating the measured compressive force data for each position of the clinching tool along the piece received from the wireless transmission unit with information received from the control unit; selectively positioning a first charging device connected to the clinching tool and robot wrist in positional proximity to a second charging device positioned remotely from the robot; and wirelessly charging a device for storing electrical energy connected to the clinching tool in electrical communication with the first charging device through induction between the first and the second charging devices. ### Claim 10 (depends on 9) The method of claim 9 further comprising the step of adjusting the positon of robot and clinching tool by the control unit to apply more compressive force or less compressive force on the piece based on the correlation of measured compressive force data and the control unit information. ### Claim 11 A system for performing clinching operations, the system comprising: a multi-axis industrial robot including a base structure, an articulated robot wrist, and a chain of mutually articulated robot elements that connect said base structure to said robot wrist; at least one clinching head provided with a clinching tool, the clinching head further comprising: an assembly carrying at least one clinching roller, said roller-carrying assembly being mounted at the bottom end of an outer cylindrical body which is slidably mounted on an inner cylindrical body having a top end provided with a flange for connection to the wrist of the robot; two springs arranged within said inner and outer cylindrical bodies so as to react to relative sliding movements between said inner and outer cylindrical bodies in two opposite directions, respectively, at least one load sensor interposed between one of said springs and one of said inner or outer cylindrical bodies so as to detect a load applied on the at least one clinching roller carried by said roller-carrying assembly while the clinching head advances relative to a piece during a clinching operation; a control unit for controlling operation of said clinching head; a control module mounted on said clinching head, the control module further comprising: a data-acquisition unit connected to said at least one load sensor and adapted for acquiring data coming from said sensor; and a wireless transmission unit connected to said acquisition unit for receiving the aforesaid acquired data and adapted for transmitting said acquired data in a wireless mode to a wireless receiving unit remote from the clinching head; an electronic processing unit adapted to process data coming from said wireless receiving unit and from said control unit during an operating cycle of said robot in which said clinching head performs a clinching operation on a piece, the electronic processing unit being configured to process data received from the wireless receiving unit indicating the load detected by the at least one sensor while the clinching head advances relative to said piece during the clinching operation, said electronic processing unit being further adapted to associate said load data received from the wireless receiving unit to information received from the control unit during the clinching operation, so that a correlated information is obtained on the load on said at least one clinching roller of the clinching head during the clinching operation, as a function of a position of the clinching head during its movement relative to the piece; and a device for storing electrical energy for electrical supply of said data acquisition unit, of said wireless transmission unit, and of said force sensor. ### Claim 12 A method for performing a material deforming clinching operation for use with a multi-axis industrial robot having a robot wrist, a clinching tool having an outer cylinder connected to the clinching tool and an inner cylinder removably connected to the robot wrist and coaxially positioned and axially movable with respect to the outer cylinder, the clinching tool further having a first and a second spring axially aligned and connected to the inner cylinder and a first load sensor in communication with one of the springs, the method comprising the steps of: moving the robot and connected clinching tool into contact with a piece through a control unit; compressing one of the first and second springs to apply a predetermined compressive force on the piece by the tool through the control unit; advancing the clinching tool along a predetermined path on the piece; continually measuring the applied compressive force by the first load sensor; generating applied compressive force data through a data acquisition unit (A) in a control module mounted to the clinching tool; wirelessly transmitting the measured compressive force data from a wireless transmission unit in the control module to a wireless receiving unit positioned remotely from the robot and connected clinching tool; correlating the measured compressive force data for each position of the clinching tool along the piece received from the wireless transmission unit with information received from the control unit.