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US 9,821,473 B2Granted
Robotic smart end effector tooling
AssigneeComau S.p.A.
InventorsVelibor Kilibarda, Joseph Cyrek, David Reid
Life of this patent
Estimating the term…
Abstract
A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.
Claims17
A programmable robotic end effector apparatus for use with a multi-axis robot having a wrist, the end effector comprising:
- a housing;
- a connector connected to the housing, the connector selectively and removably engageable with a robot wrist;
- an end effector control unit connected to the housing, the end effector control unit further comprising:
- a processor;
- a memory storage device;
- end effector programmed operating instructions stored in the end effector memory storage device, the end effector operating instructions operable to control an end effector tool to perform a predetermined assembly operation on a workpiece;
- robot programmed operating instructions stored in the end effector memory storage device, the robot operating instructions operable to control an operation of the robot;
- an electronic communication device operable to establish communication between the end effector control unit and the robot and to send the robot programmed operating instructions to a robot control unit for execution of the robot programmed operating instructions by the robot;
- and
- a tool connected to the housing, the tool having an actuator in electronic communication with the end effector control unit, the tool operable to execute the end effector programmed operating instructions to perform the predetermined assembly operation on the workpiece.
7 more elements
A method of controlling a robotic end effector tool for use in conducting work on a workpiece, the method comprising the steps of:
- an end effector control unit receiving programmed end effector operation instructions for at least one predetermined end effector tool physical assembly operation;
- the end effector control unit receiving programmed operation instructions to control a multi-axis robot engaged with the end effector tool;
- the end effector control unit storing the end effector and robot operation instructions in a memory storage device in communication with the end effector control unit;
- removably engaging the end effector tool to a multi-axis robot wrist;
- accessing the stored end effector and robot operation instructions from the memory storage device;
- executing the stored end effector and robot operation instructions for the predetermined tool physical assembly operation;
- and
- performing the physical assembly operation by the end effector tool.
5 more elements
Dependencies are inferred from the claim text.