JP-2026076282-A - Adjustable arm end tool or fastener

Abstract

[Problem] An adjustable arm-end tool and fixture for a robot is disclosed. [Solution] The adjustment of the adjustable arm end tool and the fixing device can each have multiple degrees of freedom for positioning the tool interface in one of multiple configurations. [Selection Diagram] Figure 1A

Inventors

• モートン，デイビッド・エイチ
• キツィルカン，ツェンギツ

Assignees

• マグスウィッチ・オートメーション・カンパニー

Dates

Publication Date

20260511

Application Date

20260204

Priority Date

20210611

Claims (20)

1. An adjustable arm end tool for robots, A base adapted to be coupled to the robot, A first adjustable assembly coupled to the base, The first set of multiple links, A first set of couplers connecting the plurality of links and the base, providing at least two degrees of freedom, A first adjustable assembly comprising a first tool connected to the base through a plurality of first links and a plurality of first couplers, the first tool including a first interface that is positionable relative to the base at a plurality of positions based on the plurality of first links and a plurality of first couplers, A second adjustable assembly coupled to the base, Secondly, multiple links, A second plurality of couplers connect the plurality of links and the base, wherein the first plurality of couplers provide at least two degrees of freedom, An adjustable arm end tool comprising a second adjustable assembly, the second tool being coupled to the base through the second plurality of links and the second plurality of couplers, and including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.
2. The adjustable arm end tool according to claim 1, wherein at least one of the first tool and the second tool is a magnetic gripper.
3. The adjustable arm end tool according to claim 1, wherein the base has a longitudinal central plane, the first adjustable assembly is positioned on the first side of the longitudinal central plane, and the second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.
4. The adjustable arm end tool according to any one of claims 1 to 3, wherein the base includes a linear rail defining a first axis.
5. The adjustable arm-end tool according to claim 4, wherein the first plurality of couplers enable linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, and linear motion along a third axis perpendicular to both the first and second axes.
6. The aforementioned first set of links are A first linear rail is parallel to the second axis and slidably coupled to the linear rail, The adjustable arm end tool according to claim 5, comprising: a second linear rail parallel to the third axis and slidably coupled to the first linear rail.
7. The adjustable arm end tool according to any of the preceding claims, wherein the first plurality of couplers allow rotation about at least one of the first axis, the second axis, and the third axis.
8. The adjustable arm end tool according to claim 7, wherein the first plurality of couplers allow rotation about at least two of the first axis, the second axis, and the third axis.
9. The adjustable arm end tool according to claim 8, wherein the first plurality of couplers allow rotation about each of the first, second, and third axes.
10. The adjustable arm end tool according to claim 1, wherein the first tool and the second tool are each single-sided tools.
11. The aforementioned single-sided tool is Magnetic gripper, Adhesive gripper, An adjustable arm end tool according to claim 10, which is one of a pink lamp or a locator.
12. The adjustable arm end tool according to claim 1, wherein the first tool and the second tool are each double-sided tools.
13. The double-sided tool is Power clamp, Parallel clamp, Swing unit, The adjustable arm-end tool according to claim 12, which is one of a multi-finger gripping device or a Mylar gripping device.
14. A third adjustable assembly coupled to the base, A third set of links, A third plurality of couplers connecting the third plurality of links and the base, providing at least two degrees of freedom, The adjustable arm end tool according to claim 1, further comprising a third adjustable assembly, the third tool being coupled to the base through the third plurality of links and the third plurality of couplers.
15. The adjustable arm end tool according to claim 14, wherein the base has a longitudinal central plane, the first adjustable assembly and the third adjustable assembly are positioned on the first side of the longitudinal central plane, and the second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.
16. The adjustable arm end tool according to any one of claims 13 and 14, wherein the first plurality of links and the first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and the third plurality of couplers provide six degrees of freedom for positioning the third tool relative to the base.
17. The adjustable arm end tool according to claim 16, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly is independently coupled to the base.
18. The adjustable arm end tool according to claim 1, wherein the first plurality of links and the first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, and the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base.
19. The adjustable arm end tool according to claim 18, wherein each of the first adjustable assembly and the second adjustable assembly is independently coupled to the base.
20. It is a controller, Identify a first configuration associated with a first object, An adjustable arm end tool according to any of the preceding claims, further comprising a controller configured to configure the first adjustable assembly and the second adjustable assembly according to the first configuration in order to position the first interface of the first tool at a first position relative to the base and the second interface of the second tool at a second position relative to the base.

Description

Related Application This application, titled "ADJUSTABLE END-OF-ARM TOOL OR FIXTURE", was filed on June 1, 2021. Claiming the benefit of U.S. Provisional Patent Application No. 63/209,878, filed on [date], the full disclosure thereof is expressly incorporated herein by reference. Background: Arm-end tools can be used to manipulate objects, or fixtures can be used to support objects. However, such devices and fixtures are typically designed for specific objects, and consequently, manipulating or supporting different objects involves replacing the arm-end tool or fixture with another dedicated device or fixture. Such specialization can introduce manufacturing delays (e.g., as a result of the time required to switch devices and fixtures), introduce additional complexity (e.g., for planning and programming changes), and require additional space (e.g., for housing multiple devices and using multiple fixtures). The embodiments are described in relation to these and other general considerations. While relatively specific issues are discussed, it should be understood that the embodiments are not intended to be limited to solving specific problems identified in the background art. Overview In exemplary embodiments of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool comprises a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers, the tool including a first interface that is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links and a second plurality of couplers connecting the plurality of links to a base, wherein the first plurality of couplers provide at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers, the second tool including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers. In another exemplary embodiment of the present disclosure, an adjustable fixture for receiving an object is provided. The adjustable fixture comprises a base, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers connecting the plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool includes a first interface extending above the base. The first interface is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links, a second plurality of couplers connecting the plurality of links to the base, wherein the first plurality of couplers provide at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool includes a second interface extending above the base. The second interface is positionable relative to the base at multiple locations based on a second plurality of links and a second plurality of couplers. Further exemplary embodiments of this disclosure provide a method for controlling an adjustable assembly of an EOAT for a robot. The method includes identifying a first configuration associated with a first object; configuring the adjustable assembly such that the interface of the adjustable assembly has a first position relative to the base of the adjustable assembly; engaging a tool with the adjustable assembly to cause the adjustable assembly to grip and engage the first object; disengaging the tool with the adjustable assembly; identifying a second configuration associated with a second object; configuring the adjustable assembly such that the interface of the adjustable assembly has a second position relative to the base of the adjustable assembly, wherein the second position is different from the first position; engaging a tool with the adjustable assembly to cause the adjustable assembly to grip and engage the second object; and disengaging the tool with the adjustable assembly. In yet another exemplary embodiment of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool