Ati Industrial Automation, Inc.

Other

Daniel Allen Norton

Kenneth Lee Potts

Kyle Zachary

Michael L Gloden

Baron Kendrick

Mack Earl Manning

Dustin Christopher Simons

Jordan Thomas Pendleton

Michael Joseph Hill

To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void. These contact areas impart two separate contact forces on the rolling member, both angled toward the center of the rolling member and hence operative to prevent side-to-side movement, or rocking, of the rolling member within the cross-contact recess, and hence substantially eliminating torsional freeplay of the robotic tool changer.

Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay

A robotic tool changer includes master and tool assemblies. When the master and tool assemblies are coupled, rolling members project from the master assembly and contact opposed sloped surfaces of a plurality of cutouts formed in a bearing race in the tool assembly. By contacting opposed sloped surfaces of a plurality of cutouts with the rolling members, torsional freeplay between the master and tool assemblies is eliminated or minimized.

Robotic tool changer coupling mechanism with increased torsional stiffness

A utility coupler that includes a coupling unit and a tool unit that can be selectively engaged together. The coupling unit may include a body, a cam member, a handle, and one or more utility couplings. The tool unit may include a body, a latching pin, and one or more utility couplings. In operation, the coupling unit may be placed into a decoupled position with the handle in a first position. The coupling unit may be moved into proximity of the tool unit. The handle may be moved to a second position causing the cam member to engage with the latching pin and couple the coupling unit to the tool unit. The utility couplings engage together to pass the one or more utilities to the industrial equipment.

Utility coupler with locking handle

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.

Safe robotic tool changer

A robotic tool changer in which the coupling mechanism is actuated using magnetic force is provided. In one exemplary embodiment, a robotic tool changer may include a tool unit operatively connected to a robotic tool and a master unit operative to connect to a robotic arm. The master unit may include a housing and a piston. The piston may be disposed at least partially within the housing and configured to place the master unit in one of a coupled state and a decoupled state. Further, the master unit may be operative to assume the coupled state or the decoupled state in response to altering an orientation of magnetic fields to provide a first magnetic force that moves the piston to the coupled state or provide a second magnetic force that moves the piston to the decoupled state.

Magnetically activated tool changer

Contemplated herein is an adjustable positive restraint docking system, the system having a latching assembly, the latching assembly being configured to be affixed to a docking point on a dock so as to act as a mooring point for a watercraft to said docking point. The latching assembly can also include a latching head assembly, the latching head assembly wherein in the embodiments shown the latching head assembly can also be provided with a receiving channel having an open portion being configured to receive a secondary locking component provided about the watercraft. A linkage assembly can be provided which within or about the channel, which can selectively block or open the open portion of the receiving channel. In some embodiments, the linkage assembly can be configured to pass through a toggle point between an open state and a locked state.

Adjustable positive restraint docking or mooring system

A manually actuated robotic tool changer comprises master and tool units, each adapted to be connected to a different one of a robotic arm and a robotic tool. The tool changer includes a plurality of rolling members retained in one of the units and a piston mounted in one of the units and moveable in an axial direction. The piston includes a multi-faceted cam surface including an initial contact surface, a locking surface, and a failsafe surface interposed between the initial contact surface and the locking surface. When the piston is in a locked position in the tool changer, the cam surface is operative to contact the rolling members in one of the units and to urge each rolling member against a surface of the other unit to couple the master and tool units together.

Manual robotic tool changer with rolling members

A compensation device configured to be positioned between a robotic arm and a robotic tool. The device may be configured to directly attach to the tool, or may be configured to be positioned away from the tool. The device generally includes a first section that connects to the robotic arm and a second section that connects to the tool. The second section is movable relative to the first section to provide for the tool to be positioned at various orientations. The second section may comply rotationally about a first axis. The second section may be movable in a second plane. In one embodiment, the second plane is perpendicular to the first axis.

Ball lock compensator for use with a robotic device

A tool is provided for moving a first clamping or gripping member toward or away from a second facing clamping or gripping member, the tool having a double threaded drive shaft coupled to opposed threaded linkage driving members for causing the threaded linkage driving members to be driven toward or away from each other. As the threaded linkage driving members move closer, the resulting angle of the links becomes steeper, thus increasing the mechanical advantage of the clamping tool, enhancing clamping forces. A beneficial result is a clamping apparatus that requires less manual energy than a traditional clamp. Another beneficial result is provided if the same amount of energy is applied to the driveshaft as in a traditional clamp, the resulting clamping force is significantly higher. If the second clamping member is adjustable, it accommodates wide variations in thickness of an object positioned between the first and second clamping members.

Clamping and gripping device with high mechanical advantage and energy saving attributes

A manually actuated robotic tool changer includes a first housing having a generally cylindrical piston with a central axis partially extending from the first housing, the piston rotatable about the axis. A plurality of tabs are disposed about the circumference of a portion of the piston extending from the first housing. A second housing has a bore to receive a portion of the piston. A plurality of locking lugs are disposed about the bore. The tool changer is manually actuated from an unlocked position wherein the piston assumes a position with respect to the first housing such that the extending portion of the piston may be moved within the bore with the tabs moving between the locking lugs, to a locked position wherein the piston is rotated with respect to the first housing such that the tabs move beneath the locking lugs to lock the first and second housings together.

Manual robotic tool changer with rotating piston

A compensation device that is positioned between a robot and a robotic tool. The devicegenerally includes a first section that connects to the robot and a second section that connects to the tool. The second section is movable relative to the first section for the tool to comply to accommodate variations in its positioning. The second sectionmay comply rotationally about x, y, and z orthogonal axes relative to the first section.

Ball lock compensator for use with a robotic tool

A utility coupler comprises a coupling unit that is coupled to a tool unit via the reciprocal linear actuation of a hooking cam member in the coupling unit engaging a latching pin in the tool unit. The hooking cam member includes a composite cam surface operative to couple and hold the two units together as the latching pin engages different surfaces of the composite cam surface. Failsafe features prevent the inadvertent decoupling of the units.

Utility coupler with failsafe features

In a robotic tool changer, a rotating cam surface ring having a plurality of surfaces formed therein urges a plurality of ball members in one tool coupling unit radially to contact a coupling surface in the other tool coupling unit. Mechanical energy captured and stored upon decoupling the units is used by an actuation mechanism, upon manual initiation, to at least partially automatically couple the two units by partially rotating the rotating cam surface ring. Further manual rotation of the cam member exerts a radial force through the ball members onto the coupling surface. A component of that force is directed by the coupling surface toward the opposite tool coupling unit, locking the two units together.

Rotating coupling for robotic tool changer with actuation mechanism

A manually actuated robotic tool changer includes a rapid coupling mechanism. The tool changer includes a master unit having a piston moveable along its axis between an unlocked position and a fully locked position, and a tool unit that is coupled to the master unit when the units are adjacent and the piston is moved to the fully locked position. A piston movement control mechanism selectively allows free axial motion of the piston between the unlocked position and a nearly locked position, when the control mechanism is actuated. The piston may be biased toward the locked position, allowing the master and tool units to be rapidly coupled by positioning the units adjacently, actuating the control mechanism to allow the piston to rapidly advance to a nearly locked position, releasing the control mechanism to restrict free axial motion of the piston, and manually advancing the piston to a fully locked position.

Manual robotic tool changer having rapid coupling mechanism

A manual robotic tool changer provides a compact, lightweight means to manually selectively couple a robotic tool, such as a surgical tool, to a robot arm. The tool changer includes numerous safety features to prevent inadvertent decoupling of the robotic tool. These include a dual-button handle locking mechanism operative to lock the tool changer closed in the fully coupled position, and requiring simultaneous actuation of both of two latch buttons to unlock; a one-way clutch mechanism that prevents rotation of the coupling mechanism towards the decoupled position, unless the handle is actuated to unlock the tool changer; and a spring biasing the tool changer to an at least partially coupled state when no force is applied to the handle, thus requiring a positive force against the spring, moving the handle to a fully open position, to insert or remove a robotic tool.

Growing community of inventors

Cary, NC, United States of America

Daniel Allen Norton