Abstract:
A quick change end effector system for use with a robot includes: a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector further comprising an end effector magnet; and a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator in a mechanically strong connection to the quick change end effector, wherein upon disengagement of the magnetic attraction locking the manipulator to the quick change end effector, the quick change end effector can be quickly removed from the manipulator.

Description:
PRIORITY CLAIM 
       [0001]    The present application claims the priority benefit of U.S. provisional patent application No. 62/119,085 filed Feb. 20, 2015 and entitled “Wireless Quick Change End Effector System for Use with a Robot,” the disclosure of which is incorporated herein by reference. 
     
    
     SUMMARY 
       [0002]    Embodiments of the invention relate in general to a system for use with a robot comprising a quick change end effector and a robotic manipulator. More specifically, embodiments of the invention relate to a system for use with a robot comprising a wireless quick change end effector and a robotic manipulator. 
         [0003]    A quick change end effector system for use with a robot includes: a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector comprising a tool configured to perform a robotic task, the quick change end effector further comprising an end effector magnet; and a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator in a mechanically strong connection to the quick change end effector, wherein upon disengagement of the magnetic attraction locking the manipulator to the quick change end effector, the quick change end effector can be quickly removed from the manipulator. 
         [0004]    A quick change end effector system for use with a robot includes: a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector comprising a tool configured to perform a robotic task, the quick change end effector further comprising an end effector magnet; a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet that is free to rotate relative to the manipulator, the manipulator further comprising an actuator configured to rotate the manipulator magnet, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator in a mechanically strong connection to the quick change end effector when the manipulator magnet is in a locked position, thereby fixing one or more of a position and an orientation of the quick change end effector relative to the manipulator, the manipulator magnet being free to rotate between the locked position and an unlocked position, when the manipulator magnet is in the unlocked position, the quick change end effector and the manipulator magnet having no substantial magnetic attraction, and the quick change end effector can be quickly, cleanly and efficiently removed from the manipulator without the involvement of a human being, the manipulator further comprising a wireless power transmitter, the quick change end effector further comprising a wireless power receiver configured to receive power sent by the power transmitter; and a wireless communications element configured to communicate with the end effector. 
         [0005]    A quick change end effector system for use with a robot includes: a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector comprising a tool configured to perform the robotic task, the quick change end effector further comprising an end effector magnet; a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet that is not free to move relative to the manipulator, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator into a mechanically strong connection with the quick change end effector, when the manipulator magnet is not in the proximity of the end effector magnet, the quick change end effector and the manipulator magnet having no substantial magnetic attraction, and the quick change end effector can be quickly, cleanly and efficiently removed from the manipulator without the involvement of a human being, the manipulator further comprising a wireless power transmitter, the quick change end effector further comprising a wireless power receiver configured to receive power sent by the power transmitter, the manipulator further comprises a manipulator sensor, and the quick change end effector further comprises an end effector sensor, the manipulator sensor and the end effector sensor being configured to sense their mutual distance from each other, so as to ensure proper locking of the quick change end effector into the mechanically strong connection with the manipulator by ensuring that the distance between the manipulator sensor and the end effector sensor is minimized; and a wireless communications element configured to communicate with the end effector. 
     
    
     
       DESCRIPTION OF THE DRAWINGS 
         [0006]    The accompanying drawings provide visual representations which will be used to more fully describe various representative embodiments and can be used by those skilled in the art to better understand the representative embodiments disclosed herein and their inherent advantages. In these drawings, like reference numerals identify corresponding elements. 
           [0007]      FIGS. 1A-1C  are a set of pictures depicting a system comprising a quick change end effector and a robotic manipulator comprising a manipulator magnet that is free to move relative to the manipulator. 
           [0008]      FIGS. 2A-2B  are a set of pictures depicting a system comprising a quick change end effector and a robotic manipulator comprising a manipulator magnet that is not free to move relative to the manipulator. 
       
    
    
     DETAILED DESCRIPTION 
       [0009]    While the present invention is susceptible of embodiment in many different forms, there is shown in the drawings and will herein be described in detail one or more specific embodiments, with the understanding that the present disclosure is to be considered as exemplary of the principles of the invention and not intended to limit the invention to the specific embodiments shown and described. In the following description and in the several figures of the drawings, like reference numerals are used to describe the same, similar or corresponding parts in the several views of the drawings. 
         [0010]    While the above representative embodiments have been described with certain components in exemplary configurations, it will be understood by one of ordinary skill in the art that other representative embodiments can be implemented using different configurations and/or different components. For example, it will be understood by one of ordinary skill in the art that the order of certain steps and the details of certain components can be altered without substantially impairing the functioning of the invention. It is intended, therefore, that the subject matter in the above description shall be interpreted as illustrative and shall not be interpreted in a limiting sense. 
         [0011]    Embodiments of the invention relate in general to a system for use with a robot comprising a quick change end effector and a robotic manipulator. More specifically, embodiments of the invention relate to a system for use with a robot comprising a wireless quick change end effector and a robotic manipulator. 
         [0012]    Other embodiments of the invention relate generally to a system for use with a robot for performing one of more of communicating with and powering a quick change end effector. Further embodiments of the invention relate generally to a system for use with a robot for performing one of more of wirelessly communicating with and wirelessly powering a quick change end effector. 
         [0013]    According to additional embodiments of the invention, the manipulator comprises one or more manipulator magnets. According to further embodiments of the invention, the quick change end effector is attached to the manipulator using one or more of the one or more manipulator magnets. 
         [0014]    According to other embodiments of the invention, the manipulator further comprises an actuator configured to move one or more of the one or more manipulator magnets. For example, the actuator comprises an electric actuator. For example, the movement of the one or more manipulator magnets comprises one or more of rotation, retraction, and another movement. 
         [0015]    According to further embodiments of the invention, the manipulator comprises a manipulator magnet that is not free to move relative to the manipulator. For example, the manipulator comprises a manipulator magnet is not free to rotate relative to the manipulator. According to yet other embodiments of the invention, the manipulator comprises a manipulator magnet that is free to move relative to the manipulator. For example, the manipulator comprises a manipulator magnet that is free to rotate relative to the manipulator. For example, the manipulator magnet has a locked position and an unlocked position. For example, the manipulator magnet is free to rotate between the locked position and the unlocked position. For example, when the manipulator magnet is in the locked position, the end effector magnet is locked by magnetic attraction to the manipulator magnet. For example, when the manipulator magnet is in the unlocked position, the magnetic attraction is disengaged between the quick change end effector magnet and the manipulator magnet, and the quick change end effector can be quickly removed from the manipulator. For example, the locked position and the unlocked position may be separated by approximately ninety (90) degrees. For example, the quick change end effector may be held in one or more of a cup and an edge to avoid movement of the quick change end effector against a face of the manipulator. 
         [0016]    According to further embodiments of the invention, the system further comprises a communications element configured to communicate with the quick change end effector. For example, the communications element may be configured to transmit data to the quick change end effector. For example, the communications element may be configured to receive data from the quick change end effector. For example, the communications element may comprise a wireless communications element. For example, the communications element may be configured to operate using Infrared Data Association (IrDA) wireless communications. For example, the communications element may be configured to operate using one or more of Bluetooth, Institute of Electrical and Electronics Engineers (IEEE) 802.11 specifications, IEEE 802.15.4 specifications including one or more of the Zigbee open standard and the WirelessHART open standard, and another wireless communications protocol. 
         [0017]    For example, the communications element is comprised elsewhere in the robot. For example, the communications element is comprised in a robotic control system. For example, the communications element is comprised in a robotic control system located internally to the robot. For example, the communications element is comprised in a robotic control system located externally to the robot. 
         [0018]    According to other embodiments of the invention, the system further comprises a power transmitter configured to power the quick change end effector. For example, the power transmitter may be a wireless power transmitter. 
         [0019]    According to still further embodiments of the invention, the power transmitter uses resonant power transfer. For example, a power transmitter located near the end of the manipulator inductively energizes a power receiver within the quick change end effector, thus transferring power to the quick change end effector. According to alternative embodiments of the invention, the power transmitter uses inductive power transfer. According to still further embodiments of the invention, the power transmitter uses one or more of resonant power transfer and inductive power transfer. For example, a power transmitter located near the end of the manipulator transfers energy to a power receiver comprised in the quick change end effector. This energy transfer provides operational power to the quick change end effector. 
         [0020]    According to further embodiments of the invention, the quick change end effector comprises one or more of a battery, a capacitor and another charge holding device configured to hold a charge. According to further embodiments of the invention, the quick change end effector may be attached to a robotic base. For example, the quick change end effector may be attached to a mobile robotic base. 
         [0021]    According to still other embodiments of the invention, the quick change end effector further comprises a charging device. According to yet other embodiments of the invention, the charging device is configured to charge the charge holding device when the quick change end effector requires less power than is provided by the power transmitter. For example, the charge holding device, for example, the battery, may charge up so as to be able to provide bursts of additional power above the limits of the power transmitter. 
         [0022]    According to further embodiments of the invention, the manipulator may be attached to a robotic base. For example, the manipulator may be attached to a mobile robotic base. 
         [0023]    According to yet other embodiments of the invention, the quick change end effector may be selectable from a plurality of candidate quick change end effectors. For example, the robotic base may comprise one or more candidate quick change end effectors. For example, a candidate quick change end effector holder can comprise one or more of the candidate quick change end effectors. For example, the candidate quick change end effector holder can comprise a candidate quick change end effector rack. For example, the candidate quick change end effector holder can be mounted on a robot. For example, the candidate quick change end effector holder can be mounted on the base of a robot. For example, the candidate quick change end effector holder can be mounted on the mobile robotic base. 
         [0024]    According to still other embodiments of the invention, the manipulator comprises one or more of a Cartesian manipulator, a trapezoidal manipulator, and another type of manipulator. For example, a limb comprises the manipulator, the limb further comprising one or more joints that can be individually controlled. For example, at least one of the limbs that comprises one or more individually controlled joints may be configured to facilitate dexterous manipulation of the limb. For example, the limb comprises one or more of an arm, a leg, and another limb. 
         [0025]    According to other embodiments of the invention, the manipulator may comprise a robotic base. For example, the manipulator comprises a mobile robotic base. For example, the manipulator comprises the mobile robotic base and further comprises a joint. For example, the joint is configured to perform one or more of levering the quick change end effector away from the ground plane and lifting the quick change end effector away from the ground plane so that the gripped object does not touch the ground. Such embodiments may be useful for applications such as, for example, harvest automation in which the tool comprises a harvest automation device. 
         [0026]    According to an alternative set of embodiments, the mobile robotic base may not be constrained to the ground plane. For example, the mobile robotic base may fly. For example, the mobile robotic base may fly using one or more propellers. According to another set of embodiments, the manipulator may not be constrained to the ground plane. For example, the manipulator may fly. For example, the manipulator may fly using one or more propellers. 
         [0027]      FIGS. 1A-1C  are a set of pictures depicting a system  100  comprising a quick change end effector  110  and a robotic manipulator  115 . The manipulator  115  locks to the end effector  110  and uses the end effector  110  to complete a robotic task. For example, the manipulator  115  locks to the end effector  110  and uses the end effector  110  to manipulate an object (not shown). For example, the robotic manipulator  115  comprises a robotic limb  115 . For example, the robotic manipulator  115  comprises one or more of a robotic arm  115 , a robotic leg  115 , and another robotic limb  115 . For example, the robotic limb  115  comprises one or more joints (not shown) that can be individually controlled. For example, at least one of the limbs  115  that comprises one or more individually controlled joints (not shown) may be configured to facilitate dexterous manipulation of the limb. 
         [0028]    The quick change end effector  110  comprises a tool  120  configured to perform a robotic task. For example, the task is assigned by a controller (not shown) of the system  100 . For example, the robpt self-assigns its own task. For example, the task is determined in another way. For example, the manipulator  115  comprises a Cartesian manipulator. For example, the manipulator  115  comprises a trapezoidal manipulator. 
         [0029]    The manipulator  115  comprises a manipulator magnet  122  that is free to move relative to the manipulator  115 . In this example, the manipulator comprises a manipulator magnet  122  that is free to rotate relative to the manipulator  115 . As shown in  FIGS. 1A-1C , the manipulator  115  comprises a magnet assembly  123 . 
         [0030]      FIG. 1A  is a picture depicting the system  100  comprising a quick change end effector  110  and the manipulator  115 , where the manipulator  115  comprises the manipulator magnet  122  that is free to move relative to the manipulator  115 . For example, as shown in  FIG. 1A , the tool  120  comprises a gripper  120  configured to grasp one or more objects (not shown) pursuant to the robotic task. Grippers are manufactured by, for example, Robotiq of Lévis, Quebec, Canada (www.robotiq.com). Alternatively, or additionally, the tool  120  comprises one or more of a paint gun, a welding torch, a cutter, a pair of scissors, a glue gun, a stapler, a gripper, and another tool. 
         [0031]    As shown in  FIG. 1A , the gripper  120  comprises a gripper body  125  and fingers  135 A and  135 B. Alternatively, the gripper  120  comprises a number of fingers other than two. For example, the gripper  120  comprises one finger. For example, the gripper  120  comprises three fingers. One or more of the fingers may be articulated, so that one or more of the one or more fingers comprises one or more joints. One or more of the fingers may be one or more of soft, deformable, and shapeable. For example, one or more of the fingers may be shapeable using one or more of electrical currents, air, and another shaping method. Alternatively, or additionally, instead of the fingers  135 A and  135 B, the gripper  120  comprises one or more of a hook, a magnet, a vacuum cup, a suction device, a soft adaptive finger device, and another gripping device. 
         [0032]    The gripper body  125  comprises one or more motors (not shown) and other hardware and software as needed to ensure the proper functioning of the gripper  120 . 
         [0033]    One or more of the gripper fingers  135 A and  135 B may be articulated, so that one or more of the one or more gripper fingers  135 A and  135 B comprises one or more joints (not shown). One or more of the gripper fingers  135 A and  135 B may comprise one or more of a hook (not shown), a magnet (not shown), a vacuum cup (not shown), and another gripping device (not shown). The quick change end effector  110  further comprises an end effector magnet  140 . 
         [0034]    The manipulator  115  comprises a manipulator magnet  122  having an unlocked position  155 . As shown in  FIG. 1A , when in the unlocked position  155 , the manipulator magnet  122  is facing approximately ninety (90) degrees away from the end effector magnet  140 . Consequently, a manipulator magnetic attraction  160  exerted by the manipulator magnet  122  has no substantial effect on the end effector magnet  140 . Similarly, an end effector magnetic attraction  165  exerted by the end effector magnet  140  has no substantial effect on the manipulator magnet  122 . 
         [0035]    Consequently, when the manipulator magnet  122  is in its unlocked position  155 , the magnetic attraction between the manipulator magnet  122  and the end effector magnet  140  is disengaged, and the quick change end effector  110  can be quickly removed from the manipulator  115 , facilitating a quick change to one or more of a different manipulator  115  and a different quick change end effector  110 . 
         [0036]    The manipulator magnet  122  is configured to be rotated from the unlocked position  155  through an intermediate position  167  to a locked position  170  that engages the end effector magnet  140 . In the example shown in  FIGS. 1A through 1C , the manipulator magnet  122  is configured to be rotated from the unlocked position  155  by at least approximately 90 degrees through an intermediate position  167  to a locked position  170  that engages the end effector magnet  140 . 
         [0037]    As shown in  FIG. 1B , when the manipulator magnet  122  is rotated into the locked position  170 , the manipulator magnet  122  and the end effector magnet  140  are polarized so that the manipulator magnetic attraction  160  exerted by the manipulator magnet  122  attracts the end effector magnet  140 , contributing to an attractive force  175  between the end effector magnet  140  and the manipulator magnet  122 . Similarly, when the manipulator magnet  122  is in the locked position  170 , the end effector magnetic attraction  165  exerted by the end effector magnet  140  attracts the manipulator magnet  122 , contributing to the attractive force  175  between the end effector magnet  140  and the manipulator magnet  122 . The attractive force  175  between the manipulator magnet  122  and the end effector magnet  140  fixes the end effector magnet  140  in place, thereby fixing one or more of a position and an orientation of the quick change end effector  110  relative to the manipulator  115 . 
         [0038]    As shown in  FIG. 1C , the attractive force  175  between the end effector magnet  140  and the manipulator magnet  122  that was created when the manipulator magnet  122  was rotated into the locked position  170  fixes the end effector magnet  140  in place, thereby fixing the quick change end effector  110  in place and locking it into a mechanically strong connection with the manipulator  115 . 
         [0039]      FIGS. 2A-2B  are a set of pictures depicting a system  200  comprising a quick change end effector  110  and a robotic manipulator  115 . The manipulator  115  again locks to the end effector  110  and uses the end effector  110  to complete a robotic task. For example, the manipulator  115  locks to the end effector  110  and uses the end effector  110  to manipulate an object (not shown). 
         [0040]    The quick change end effector  110  again comprises a tool  120  configured to perform a robotic task. The robotic manipulator  115  is again comprised in a robot (not shown) and the manipulator  115  is again configured to manipulate the robot (not shown). 
         [0041]    The manipulator  115  again comprises a manipulator magnet  122  that now is not free to move relative to the manipulator  115 . As shown in  FIGS. 2A-2B , As shown the manipulator  115  again comprises a magnet assembly  123 . 
         [0042]      FIG. 2A  is a picture depicting the system  200  comprising a quick change end effector  110  and the manipulator  115 , where the manipulator  115  again comprises the manipulator magnet  122  that is now not free to rotate relative to the manipulator  115 . For example, as shown in  FIG. 2A , the tool  120  again comprises a gripper  120  configured to grasp one or more objects (not shown) pursuant to the robotic task. 
         [0043]    As shown in  FIG. 2A , the gripper  120  again comprises a gripper body  125  and fingers  135 A and  135 B. 
         [0044]    The gripper body  125  comprises one or more motors (not shown) and other hardware and software as needed to ensure the proper functioning of the gripper  120 . 
         [0045]    The quick change end effector  110  further comprises an end effector magnet  140 . 
         [0046]    The manipulator  115  comprises a manipulator magnet  122 . Unlike the system shown in  FIGS. 1A-1C , the manipulator magnet  122  in  FIGS. 2A-2B  does not move independently of the manipulator  115 . When the manipulator magnet  122  is not in proximity to the end effector magnet  140 , the magnetic attraction between the manipulator magnet  122  and the end effector magnet  140  is disengaged, and the quick change end effector  110  can be quickly removed from the manipulator  115 , facilitating a quick change to one or more of a different manipulator  115  and a different quick change end effector  110 . 
         [0047]    As shown in  FIG. 2A , the manipulator magnet  122  and the end effector magnet  140  are polarized so that as the manipulator magnet  122  and the end effector magnet  140  move into proximity to one another, an attractive force  175  grows between the manipulator magnet  122  and the end effector magnet  140 . The manipulator magnet  122  attracts the end effector magnet  140  and conversely the end effector magnet  140  attracts the manipulator magnet  122 . In response to the attractive force  175 , if the end effector magnet  140  and the manipulator magnet  122  are not already aligned, the end effector magnet  140  rotates relative to the manipulator magnet  122 , causing the end effector  110  and the manipulator  115  to rotate relative to each other. For example, as shown in  FIG. 2A , the attractive force  175  causes the end effector magnet  140  and thus the end effector  110  to rotate in a counter-clockwise direction  210 . 
         [0048]    As shown in  FIG. 2B , the attractive force  175  between the end effector magnet  140  and the manipulator magnet  122  increases as the manipulator magnet  122  and the end effector magnet  140  move into closer proximity to each other. The attractive force  175  fixes the end effector magnet  140  in place relative to the manipulator magnet  122 , thereby locking the quick change end effector  110  into a mechanically strong connection with the manipulator  115 . 
         [0049]    The manipulator  115  further comprises a manipulator sensor  220 . The quick change end effector  110  further comprises an end effector sensor  230 . The manipulator sensor  220  and the end effector sensor  230  are configured to sense their mutual distance from each other. The manipulator sensor  220  and the end effector sensor  230  ensure proper locking of the quick change end effector  110  into a mechanically strong connection with the manipulator  115  by ensuring that the distance between the manipulator sensor  220  and the end effector sensor  230  is minimized. 
         [0050]    The manipulator  115  further comprises a power transmitter  240 . For example, the power transmitter  240  is located near the manipulator magnet  122 . Preferably, although not necessarily, the power transmitter  240  comprises a wireless power transmitter  240 . The power transmitter  240  transmits power using one or more of resonant power transfer and inductive power transfer. 
         [0051]    The quick change end effector  110  further comprises a power receiver  250 . For example, the power receiver  250  is located near the end effector magnet  140 . Preferably, although not necessarily, the power receiver  250  comprises a wireless power receiver  250 . The power receiver receives power transmitted by the power transmitter  240 . The received power provides the quick change end effector  110  with power to operate. 
         [0052]    As shown in  FIGS. 1A-1C and 2A-2B , the end effector magnet  140  and the manipulator magnet  122  may be self-aligning. The manipulator magnet  122  and the end effector magnet  140  may provide an attractive force when in the locked position. Rotating the manipulator  115  while the quick change end effector  110  is held static may cause the manipulator magnet  122  and the end effector magnet  140  to become unaligned, facilitating a quick change to one or more of another manipulator  115  and another quick change end effector  110 . Rotating the manipulator  115  while the quick change end effector  110  is held static may create a repulsive force that may disengage the quick change end effector  110  from the manipulator  115 , facilitating a quick change to one or more of another manipulator  115  and another quick change end effector  110 . 
         [0053]    One advantage of the invention is it facilitates a very quick change of one or more of the manipulator  115  and the quick change end effector  110 . The quick change can be accomplished cleanly and efficiently and without the involvement of a human being. No human being is required, for example, to unbolt an existing connection between the manipulator  115  and the quick change end effector  110 . Similarly, no human being is required to bolt a new connection between the manipulator  115  and the quick change end effector  110 . 
         [0054]    For example, it will be understood by those skilled in the art that embodiments of the invention may use other styles and types of end effectors, both currently known and still to be invented. For example, it will be understood by those skilled in the art that software used by the wireless quick change end effector for use with a robot may be located in any location in which it may be accessed by the system. It will be further understood by those of skill in the art that the number of variations of the network, the location of the software, and the like are virtually limitless. It is intended, therefore, that the subject matter in the above description shall be interpreted as illustrative and shall not be interpreted in a limiting sense. 
         [0055]    While the above representative embodiments have been described with certain components in exemplary configurations, it will be understood by one of ordinary skill in the art that other representative embodiments can be implemented using different configurations and/or different components. For example, it will be understood by one of ordinary skill in the art that the order of certain steps and certain components can be altered without substantially impairing the functioning of the invention. 
         [0056]    The representative embodiments and disclosed subject matter, which have been described in detail herein, have been presented by way of example and illustration and not by way of limitation. It will be understood by those skilled in the art that various changes may be made in the form and details of the described embodiments resulting in equivalent embodiments that remain within the scope of the invention. It is intended, therefore, that the subject matter in the above description shall be interpreted as illustrative and shall not be interpreted in a limiting sense.