Browse Prior Art Database

ROBOTIC END EFFECTOR SAFETY COUPLING

IP.com Disclosure Number: IPCOM000006640D
Original Publication Date: 1992-Dec-01
Included in the Prior Art Database: 2002-Jan-18
Document File: 2 page(s) / 109K

Publishing Venue

Motorola

Related People

Terry Rohde: AUTHOR [+2]

Abstract

Many robotic applications require the use of a break- away or safety coupling to protect the end effector mounted to the robots tooling flange. Problems encountered with commercial couplings range from unacceptable size, poor positional repeatability, slow response time and poor electrical construction. This flexi- ble coupler was designed for robotic applications that require precision parallel mounting surfaces and exact- ing positional repeatability of the end effector. The cou- pler is a rigid structure that minimiies end effector over- all length, has a breakaway torque range of 50 in-lbs to 250 in-lbs, has sensitivity adjustment, and has the advan- tages of spring damping. The invention is a new and unique design that provides a combination of features that is not available in other couplers.

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MOlYlROLA INC. Technical Developments Volume 17 December 1992

ROBOTIC END EFFECTOR SAFEl-Y COUPLING

by Terry Rohde, Rich Musco

INTRODUCTION

  Many robotic applications require the use of a break- away or safety coupling to protect the end effector mounted to the robots tooling flange. Problems encountered with commercial couplings range from unacceptable size, poor positional repeatability, slow response time and poor electrical construction. This flexi- ble coupler was designed for robotic applications that require precision parallel mounting surfaces and exact- ing positional repeatability of the end effector. The cou- pler is a rigid structure that minimiies end effector over- all length, has a breakaway torque range of 50 in-lbs to 250 in-lbs, has sensitivity adjustment, and has the advan- tages of spring damping. The invention is a new and unique design that provides a combination of features that is not available in other couplers.

COUPLING DESCRIPTION

  The coupler consists of an aluminum housing 1 that is secured directly to the robot's Theta-axis mounting flange 2 with dowel pins 3 and narrow head cap screws
4. Inside the housing is a wobble plate 5 that pivots about a hardened tooling ball 6. The tooling ball 6 is pressed into the housing 1 and is centrally located in the housing. A set of six compression springs 7 are equally spaced on a bolt circle inside the housing. The springs 7 are positioned between the housing 1 and the wobble plate 5 and are located by bored holes. A face plate 8 is fastened to the housing with eight FIICS. The bottom surface of the wobble plate 5 is forced against the top surface of the face plate 8 by the action of the six com- pression springs 7. Three hardened set screws 9 with a 120 degree included angle tip are threaded into the wob- ble plate and are adjusted to accurately nest into corresponding center drill features machined into the face plate 6.

Three miniature micro switches IO are mounted onto the wobble plate. The normally open contacts on the

three switches are wired in series and a telephone type connector 11 is provided for connection to the robot controller. Three ball plungers 12 are threaded into the housing slightly below the micr...