Quick-release mechanism for tool adapter plate and robots incorporating the same
In various embodiments, a tool plate configured to receive a robotic end effector is removably matable with a robot appendage via a quick-release mechanism.
1. For use with a robot system comprising a robot body, a robot arm connected to the robot body and having a distal end including a first connector, a robot controller for controlling the robot arm, and an end effector configured to connect to the robot arm, an end-effector assembly comprising:
a tool plate comprising (i) a robot side configured to be mountable to the distal end of the robot arm, wherein the robot side is annular and accommodates the first connector therein when the robot side is mounted to the distal end of the robot arm, and (ii) a tool side configured to removably connect to the robot side, wherein the tool side comprises a second connector configured to extend into the robot side and mate with the first connector;
incorporated in the tool plate, a quick-release mechanism configured to removably retain the tool side of the tool plate against the robot side of the tool plate; and
disposed at an interface between the robot side and the distal end of the robot arm, a removable security collar configured to engage with the quick-release mechanism to prevent removal of the tool side of the tool plate from the robot side of the tool plate when the security collar is placed onto the quick-release mechanism by an operator and allow removal of the tool side of the tool plate from the robot side of the tool plate when the security collar is removed from the quick-release mechanism by the operator.
2. The end-effector assembly of claim 1 , wherein:
the tool side of the tool plate comprises a raised portion having a series of depressions circumferentially arranged around a side wall thereof, wherein the second connector is disposed above the raised portion; and
the quick-release mechanism comprises, disposed within the robot side of the tool plate, a recess for receiving the raised portion of the tool side of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring, whereby axial movement of the ring in a first direction locks the bearing balls within the depressions of the raised portion of the tool side of the tool plate, thereby retaining the tool side of the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction releases the bearing balls from the depressions, thereby releasing the tool side of the tool plate from the quick-release mechanism.
3. The end-effector assembly of claim 2 , wherein the slidable ring has a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
4. The end-effector assembly of claim 2 , further comprising, disposed on the robot side of the tool plate, a spring-loaded, retractable retention ring for preventing inward radial movement of the bearing balls in a rest position and, when retracted against the spring loading in response to entry of the raised portion of the tool side of the tool plate, allowing movement of the bearing balls into the depressions.
5. The end-effector assembly of claim 4 , wherein the retention ring is spring-loaded via a compression wave spring.
6. The end-effector assembly of claim 2 , wherein the removable security collar is configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented when the security collar is placed onto the quick-release mechanism by the operator.
7. The end-effector assembly of claim 1 , further comprising a removable adaptor plate configured to be attached to the tool side of the tool plate and to couple the end effector to the tool side of the tool plate.
8. The end-effector assembly of claim 7 , wherein the adaptor plate is configured to be attached to the tool side of the tool plate on a surface of the tool side of the tool plate opposite the second connector.
9. The end-effector assembly of claim 1 , wherein the removable security collar is C-shaped.
10. The end-effector assembly of claim 1 , wherein the tool side of the tool plate comprises:
nonvolatile memory storing data comprising at least one of identification information or configuration information for the end effector;
a communication interface; and
a processor configured to cause transmission of the data to the robot controller, upon mating of the first and second connectors, via bidirectional communication between the processor and the robot controller established via the communication interface.
11. A robot system comprising:
a robot body;
a robot arm connected to the robot body, the robot arm having a distal end including a first connector;
a robot controller for controlling the robot arm and an end effector connected thereto;
a tool plate comprising (i) a robot side configured to be mountable to the distal end of the robot arm, wherein the robot side is annular and accommodates the first connector therein when the robot side is mounted to the distal end of the robot arm, and (ii) a tool side configured to removably connect to the robot side, wherein the tool side comprises a second connector configured to extend into the robot side and mate with the first connector;
an end effector connected to the tool side of the tool plate;
incorporated in the tool plate, a quick-release mechanism configured to removably retain the tool side of the tool plate against the robot side of the tool plate; and
disposed at an interface between the robot side and the distal end of the robot arm, a removable security collar configured to engage with the quick-release mechanism to prevent removal of the tool side of the tool plate from the robot side of the tool plate when the security collar is placed onto the quick-release mechanism by an operator and allow removal of the tool side of the tool plate from the robot side of the tool plate when the security collar is removed from the quick-release mechanism by the operator.
12. The robot system of claim 11 , wherein:
the tool side of the tool plate comprises a raised portion having a series of depressions circumferentially arranged around a side wall thereof, wherein the second connector is disposed above the raised portion; and
the quick-release mechanism comprises, disposed within the robot side of the tool plate, a recess for receiving the raised portion of the tool side of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring, whereby axial movement of the ring in a first direction locks the bearing balls within the depressions of the raised portion of the tool side of the tool plate, thereby retaining the tool side of the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction releases the bearing balls from the depressions, thereby releasing the tool side of the tool plate from the quick-release mechanism.
13. The robot system of claim 12 , wherein the slidable ring has a tapered inner surface for translating the bearing balls into the depressions during axial movement of the ring in the first direction.
14. The robot system of claim 12 , further comprising, disposed on the robot side of the tool plate, a spring-loaded, retractable retention ring for preventing inward radial movement of the bearing balls in a rest position and, when retracted against the spring loading in response to entry of the raised portion of the tool side of the tool plate, allowing movement of the bearing balls into the depressions.
15. The robot system of claim 14 , wherein the retention ring is spring-loaded via a compression wave spring.
16. The robot system of claim 12 , further wherein the removable security collar is configured to engage with the quick-release mechanism proximate the slidable ring, whereby axial movement of the slidable ring in the second direction is prevented when the security collar is placed onto the quick-release mechanism by the operator.
17. The robot system of claim 11 , further comprising a removable adaptor plate configured to be attached to the tool side of the tool plate and to couple the end effector to the tool side of the tool plate.
18. The robot system of claim 17 , wherein the adaptor plate is configured to be attached to the tool side of the tool plate on a surface of the tool side of the tool plate opposite the second connector.
19. The robot system of claim 11 , wherein the removable security collar is C-shaped.
20. The robot system of claim 11 , wherein the tool side of the tool plate comprises:
nonvolatile memory storing data comprising at least one of identification information or configuration information for the end effector;
a communication interface; and
a processor configured to cause transmission of the data to the robot controller, upon mating of the first and second connectors, via bidirectional communication between the processor and the robot controller established via the communication interface.
21. The robot system of claim 20 , wherein the robot controller is adapted to self-configure based on the data and to control movements of the connected end effector based on the self-configuration.
22. The robot system of claim 20 , wherein the data includes both identification information and configuration information.
23. The robot system of claim 20 , wherein the data includes configuration information.
24. The robot system of claim 23 , wherein the configuration information specifies a driver for controlling the end effector.
25. The robot system of claim 24 , wherein the configuration information comprises the driver.
26. The robot system of claim 24 , wherein the configuration information comprises one or more parameters usable to tailor a generic driver to the end effector.
27. The robot system of claim 24 , wherein the configuration information comprises an identifier specifying a type of the driver.