Patent Publication Number: US-2021178609-A1

Title: Gripping Device for Use with a Robot

Description:
FIELD OF INVENTION 
     The present invention relates generally to gripping devices configured to grip a tool and, more specifically, to gripping devices that supply one or more utilities to a tool that is being gripped. 
     BACKGROUND 
     In many robotic manufacturing applications, it is cost-effective to utilize a robot, such as a generic robot arm, to accomplish a variety of tasks. For example, in an automotive manufacturing application, a robot may be utilized to cut, grind, or otherwise transfer parts during one phase of production, and perform a variety of welding tasks in another. Different welding tool geometries may be advantageously mated to a particular robot arm to perform welding tasks at different locations or in different orientations. 
     In these applications, a robotic tool changer is used to mate different robotic tools to the robot. One half of the tool changer, called the master unit, is permanently affixed to a robot arm. The other half, called the tool unit, is affixed to each robotic tool that the robot may utilize. The various robotic tools a robot may utilize are typically stored, within the range of motion of the robot arm, in tool stands which are sized and shaped to hold each tool securely when not in use. When the robot positions the master unit, on the end of the robot arm, adjacent to a tool unit connected to a desired robotic tool sitting in a tool stand, a coupling mechanism is actuated that mechanically locks the master and tool units together, thus affixing the robotic tool to the end of the robot arm. The tool changer thus provides a consistent mechanical interface between a robot arm and a variety of robotic tools. A tool changer may also pass utilities to a robotic tool. The tool changer can also provide utilities, such as electrical current, air pressure, hydraulic fluid, cooling water, electronic or optical data signals, and the like, to the attached tools for operation. 
     One type of robotic tool used with a robot is a gripping device that includes fingers that are movable between open and closed positions to grip a tool. Current operations are inefficient when using the gripping device with a tool changer because the operations require an excess amount of movement of the robot as well as excessive engagements and disengagements of tools from the robot. Options for reducing the inefficiencies are difficult because of the need to pass utilities to the attached tools to provide for operation of the tools. 
     The Background section of this document is provided to place embodiments of the present invention in technological and operational context, to assist those of skill in the art in understanding their scope and utility. Unless explicitly identified as such, no statement herein is admitted to be prior art merely by its inclusion in the Background section. 
     SUMMARY 
     The following presents a simplified summary of the disclosure in order to provide a basic understanding to those of skill in the art. This summary is not an extensive overview of the disclosure and is not intended to identify key/critical elements of embodiments of the invention or to delineate the scope of the invention. The sole purpose of this summary is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later. 
     One aspect is directed to a gripping device for use with a robot to use a tool. The gripping device comprises a body configured to be connected to the robot, a grip comprising a plurality of fingers that extend from the body with the grip movable between an open orientation with the plurality of fingers being spaced a first distance apart and a closed orientation with the plurality of fingers being spaced a smaller second distance apart to grasp the tool, and one or more utility connectors that extend through one or more of the fingers and to provide one or more utilities to the tool when the grip is in the closed orientation. 
     In another aspect, each of the plurality of fingers is movable relative to the body. 
     In another aspect, one or more of the plurality of fingers is movable relative to the body and one or more of the plurality of fingers are stationary relative to the body. 
     In another aspect, each of the fingers comprises at least one utility connector. 
     In another aspect, each of one or more utility connectors comprises an indent on an inner surface of the finger to receive a protrusion on the tool, and a connection valve on an outer surface of the finger to connect to a utility line. 
     In another aspect, one or more alignment protrusions extend outward from the fingers to contact against and align the tool relative to the plurality of fingers. 
     In another aspect, one or more of the fingers comprise a fluid channel that extends through an interior of the finger and is spaced away from the one or more utility connectors. 
     In another aspect, a control unit with a processing circuit is configured to control the position of the plurality of fingers and to control a supply of the one or more utilities that are supplied to the tool through the one or more utility connectors. 
     In another aspect, a first one of the utility connectors supplies electricity to the tool and a second one of the utility connectors supplies hydraulic fluid to the tool. 
     One aspect is directed to a gripping device for use with a robot to use a tool. The gripping device comprises a body, a plurality of fingers that extend from the body with each of the fingers comprising an inner side and an outer side, and one or more utility connectors on one or more of the plurality of fingers. Each of the utility connectors comprises a channel that extends through the finger with a first end at the inner side of the finger and an second end at the outer side of the finger, a port at the first end of the channel to engage with the tool, and a connection member at the second end to connect to a utility line that supplies a utility. The plurality of fingers forming a grip that is adjustable between an open orientation with the plurality of fingers spaced apart by a first distance and a closed orientation with the plurality of fingers in closer proximity than the first distance to grip the tool. 
     In another aspect, each of the fingers comprises at least one utility connector. 
     In another aspect, at least two of the fingers comprise a first utility connector to supply a first utility to the tool and a second utility to supply a different second utility to the tool. 
     In another aspect, at least one of the fingers comprises one or more fluid channels that extend through the finger with each of the fluid channels comprising an inlet and an outlet on the finger and are spaced away from the one or more utility connectors. 
     In another aspect, two or more of the channels extend through at least one of the fingers with the two or more channels being spaced apart within the interior of the fingers. 
     One aspect is directed to a method of gripping a tool. The method comprises: positioning fingers on opposing sides of the tool with the fingers being connected to a robot; closing the fingers and gripping the tool with the fingers; engaging one or more utility connectors on one of more of the fingers with corresponding receptacles on the tool; while the fingers are closed on the tool, moving one or more utilities to the tool through the one or more utility connectors in the one or more fingers; and operating the tool while the fingers are gripping the tool and the one or more utilities are being supplied to the tool through the one or more utility connectors. 
     In another aspect, the method comprises moving the fingers away from the tool and disengaging the one or more utility connectors from the corresponding receptacles and preventing the one or more utilities from being supplied to the tool. 
     In another aspect, the method comprises supplying a first utility and a second utility to the tool through two or more of the fingers. 
     In another aspect, the method comprises supplying a fluid to one or more channels in the fingers and dispensing the fluid onto an item that is being acted on by the tool. 
     In another aspect, closing the fingers and gripping the tool with the fingers comprises one or more of the fingers remaining stationary while one or more of the fingers moves together. 
     In another aspect, moving the one or more utilities to the tool through the one or more utility connectors in the one or more fingers comprises moving hydraulic fluid through the one or more utility connectors. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. However, this invention should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout. Accordingly, terms of reference such as up, down, left, right, vertical, horizontal, and the like, which are used herein for clarity of expression, apply only to the orientation of elements in the drawings and are hence relative, and not absolute, directions. Naturally, in use, the elements depicted in the drawings may assume any orientation or be viewed from a different perspective. 
         FIG. 1  is a perspective view of a gripping device with fingers in an open orientation on opposing sides of a tool. 
         FIG. 2  is a schematic side view of a gripping device mounted to a robot. 
         FIG. 3  is a schematic side view of a gripping device with a pivoting finger and a fixed finger. 
         FIG. 4A  is a bottom schematic view of ends of fingers of a gripping device in an open orientation. 
         FIG. 4B  is a bottom schematic view of the gripping device of  FIG. 4A  in a closed orientation. 
         FIG. 5A  is a bottom schematic view of ends of fingers of a gripping device in an open orientation. 
         FIG. 5B  is a bottom schematic view of the gripping device of  FIG. 5A  in a closed orientation. 
         FIG. 6  is a perspective view of a gripping device. 
         FIG. 7  is a perspective view of a gripping device. 
         FIG. 8  is a side schematic view of a finger with channels extending through an interior of the finger to supply one or more utilities. 
         FIG. 9  is an exploded perspective view of a tool positioned between fingers of a gripping device with the fingers in an open orientation. 
         FIG. 10  is a perspective view of a tool for use with a gripping device. 
         FIG. 11  is a flowchart diagram of a method of using a gripping device. 
         FIG. 12  is a side view of fluid lines that extend through fingers of a gripping device to supply a fluid to an item that is secured in a tool. 
         FIG. 13  is a side view of fluid lines that extend through fingers of a tool to supply a fluid to an item that is secured in the tool. 
         FIG. 14  is a schematic diagram of a control unit that controls one or more of the gripping device and the robot. 
         FIG. 15  is a schematic diagram of a control unit. 
     
    
    
     DETAILED DESCRIPTION 
     The present application is directed to a gripping device with fingers configured to grip a tool. The fingers are further equipped to supply one or more utilities to the tool while being gripped. The one or more utilities provide for the tool to operate while being gripped by the fingers. 
       FIG. 1  illustrates a gripping device  10  that is positioned in proximity to a tool  100  (generically illustrated in  FIG. 1 ). The gripping device  10  includes a body  20  and fingers  30 . One or both of the fingers  30  are movable relative to the body  20  for the gripping device  10  to be movable between an open orientation (as illustrated in  FIG. 1 ) and a closed orientation. In the open orientation, the fingers  30  are spaced apart to be positioned on opposing sides of the tool  100 . In the closed orientation, the fingers  30  are moved inward to grip the tool  100 . One or more of the fingers  30  include utility connectors  90 . Each utility connector  90  includes a channel  60  that extends through the finger  30 . Each utility connector  90  provides for transferring a utility through the finger  30  and to the tool  100  to operate the tool  100  while being gripped by the fingers  30 . The number of utility connectors  90  that extend through each finger  30  can vary between none to three or more. 
     The gripping device  10  is configured to be connected to and operated by a robot  120 . The gripping device  10  can be used with a wide variety of robots  120  that provide for attachment, movement, and operation. The robots  120  can provide a variety of different movements and positions for the gripping device  10  to perform the specific tasks.  FIG. 2  illustrates one example of a robot  120  configured to operate and move the gripping device  10  to perform various functions. The robot  120  can include one or more arms  121  that are movably connected together at joints  122 . The robot  120  can also include a base  123  that can be fixed to a support floor, or can be movable about the support floor. 
     One or more utility lines  125  extend from the robot  120  and into the gripping device  10  to supply one or more utilities that are transferred to the tool  100 .  FIG. 2  schematically illustrates a pair of utility lines  125  positioned on the exterior of the outer-most arm  121  and connected to the gripping device  10 . Another example includes one or more of the utility lines  125  extending through the outer-most arm  121  and connecting to the body  20 . The utility is then fed through the body  20  and into the one or more fingers  30 . Another example includes the utility lines  125  being separate from the robot  120 . 
     Returning to  FIG. 1 , the fingers  30  form a grip  40  that is adjustable to hold and release the tool  100 . In an open orientation, the grip  40  is sized for the fingers  30  to be positioned on opposing sides the tool  100 . In a closed orientation, the fingers  30  are in closer proximity to contact against and grip the tool  100 . 
     In one example as illustrated in  FIG. 1 , each finger  30  is movable relative to the body  20  to adjust the grip  40  between the open and closed orientations. Each of the fingers  30  can include the same amount of movement. As illustrated in  FIG. 1 , each finger  30  moves the same amount in an inward direction indicated by arrows A and an outward direction indicated by arrows B. 
     In another example, a limited number of fingers  30  move relative to the body  20 .  FIG. 3  includes an example with the grip  40  formed by fingers  30   a ,  30   b .  FIG. 30 a    is integrally formed with the body  20  and does not move relative to the body  20 . Finger  30   b  moves relative to the body  20  as illustrated by arrows A and B. In the open orientation, finger  30   b  is spaced a first distance away from finger  30   a  for the grip  40  to be sized to extend around an tool (not illustrated in  FIG. 3 ). In the closed orientation, finger  30   b  moves inward in closer proximity to the finger  30   a . One or more utility connectors  90  can extend through one or more of the fingers  30 . In the example of  FIG. 3 , a single utility connector  90  extends through finger  30   a.    
       FIG. 4A  illustrates a schematic end view of the fingers  30  spaced apart in an open orientation.  FIG. 4B  illustrates the fingers  30  in a closed orientation with each of the fingers  30  having moved inward. In the various examples, the fingers  30  can be in contact in the closed orientation when no tool is positioned within the grip  40 . In another example, one or more of the fingers  30  are spaced away from other fingers  30  in the closed orientation. In this example, the fingers  30  are in close enough proximity to grip the tool  100 . Again, one or more of the fingers  30  can include one or more utility connectors  90 . 
       FIG. 5A  illustrates a schematic end view of a grip  40  formed by fingers  30   a ,  30   b ,  30   c . Finger  30   a  is larger than either of fingers  30   b  or  30   c .  FIG. 5B  illustrates a closed orientation. In this example, finger  30   a  remains relatively stationary and does not move relative to the body  20 . Both fingers  30   b  and  30   c  move relative to the body  20  between the open and closed orientations. Finger  30   b  moves a greater amount than finger  30   c . One or more of the fingers  30  can include one or more utility connectors  90 . 
     In one example as illustrated in  FIG. 4B , the fingers  30  are positioned at a center C of the body  20  in the closed orientation. In another example as illustrated in  FIG. 5B , the fingers  30  are offset from a center C of the body  20  in the closed orientation. 
     The fingers  30  can move relative to the body  20  in a variety of different manners.  FIG. 1  includes an example in which the fingers  30  are positioned on a track on the body  20 . The fingers  30  move along the track when moving in the direction of arrows A and B.  FIG. 3  includes an example in which finger  30   b  is attached to the body  20  at a pivot  31 . The finger  30   b  moves about pivot  31  when moving in the direction of arrows A and B.  FIGS. 6 and 7  illustrate gripping devices  10  with fingers  30  pivotally attached to the body  20 . In the various examples, each of the fingers  30  can move independently from the other fingers. In another example, two or more of the fingers  30  are connected together and move as a single unit. 
     The fingers  30  can be powered in different manners. In one example, gears in the body  20  are rotated to cause movement of the fingers  30 . In another example, the fingers  30  are powered by pneumatic or electrical actuators to move between the open and closed orientations. Each of the fingers  30  can be powered in the same manner, or two or more of the fingers  30  can be powered in different manners. 
     The fingers  30  are further configured to supply one or more utilities to a gripped tool  100 . The utilities are supplied through the one or more utility connectors  90  with the one or more channels  60  that extend through the fingers  30 .  FIG. 8  illustrates a finger  30  with a utility connectors  90  with two channels  60 . Each channel  60  extends through the finger  30  and includes a first end  61  at an inner side  32  of the finger  30  and a second end  62  at an outer side  33  of the finger  30 . The first end  61  is configured to engage with a corresponding receptacle  101  in the tool  100 . The second end  62  is configured to engage with the one of the utility lines  125  that feed the utility. One or both of the ends  61 ,  62  can include projections, indentations, fittings, or other structure to facilitate the engagement with the respective element.  FIG. 1  illustrates fittings  35  mounted to the second ends  62  of the channels  60  to engage with the utility lines  125  (not illustrated in  FIG. 1 ). 
     One or more alignment features  34  positioned on the inner side  32  of the fingers  30  engage with corresponding alignment features  102  on the tool  100 . The alignment features  34 ,  102  can include various complementary projections and receptacles that engage together when the fingers  30  grip the tool  100 . 
     One or more alignment members  34  are positioned to contact against and position the tool  100  between the fingers  30  in the open configuration. As illustrated in  FIG. 1 , the alignment members  34  can control an extent to which the tool  100  is positioned towards the body  20 . One or more alignment members  34  can also control the lateral position of the tool  100  relative to the fingers  30 . The alignment members  34  include one or more contact surfaces that contact against the tool  100  when the fingers  30  are in the closed orientation. The alignment members  34  can be attached to and movable with the fingers  30 . In another example, the alignment members  34  are attached to the body  20  and are stationary relative to the fingers  30 . 
     The tool  100  can include various devices that require one or more utilities to operate. Examples include but are not limited to drills, saws, gripping devices, and grinders. The tools  100  can require one or more utilities, such as electrical current, air pressure, hydraulic fluid, cooling water, electronic or optical data signals, and the like, for operation. 
       FIG. 9  illustrates a gripping tool  100 . The tool  100  includes a body  105  with movable fingers  106 . The body  105  includes a pair of receptacles  101  each configured to engage with a channel  60  in one of the fingers  30 . The shape of the body  105  complements the fingers  30  to facilitate alignment and gripping of the tool  100 . This can include a planar top surface  108  that contacts against a planar shelf  36  of the fingers  30  with the shelf  36  acting as an alignment feature. The body  105  also includes a planar outer surface  109  that contacts against a planar inner side  32  of the fingers  30 . 
     Fingers  106  are connected to the body  105 . One or more of the fingers  106  are movable relative to the body  105  to move between open and closed positions to grip an item. The fingers  106  can have various numbers and movements the same as those stated above for fingers  30 . In one example, the gripping tool  100  provides for effectively gripping and moving smaller items than the fingers  30 . In another example, fingers  106  may provide lesser holding force to the item which facilitates movement of fragile items  200  (e.g., produce, electrical circuitry). 
       FIG. 10  illustrates a suction tool  100  configured to supply a suction force to an item. The suction tool  100  includes a body  105  with receptacles  101  configured to engage with channels  60  in the fingers  30 . A frame  109  is attached to the body  105  and includes suction cups  107  on the outer reaches. Suction force is provided through the channels  60  in the fingers  30  to provide a force to secure an item that is contacted against one of more of the suction cups  107 . Alignment features  102  include cylindrical extensions that extend outward and make within corresponding circular receptacles in the fingers  30 . 
       FIG. 11  illustrates one method of using the gripping device  10 . The gripping device  10  is attached to a robot  120  and moved to a tool  100  (block  200 ). The gripping device  10  is adjusted with the fingers  30  in the open orientation and placed on opposing sides of the tool  100  (block  202 ). The fingers  30  are then moved towards the closed orientation to contact against and grip the tool  100  (block  204 ). This movement of the fingers  30  further aligns the one or more channels  60  of the one or more utility connectors  90  that extend through one or more of the fingers  30  with the one or more receptacles  101  of the tool  100  (block  206 ). Once the channels  60  are engaged with the receptacles  101 , the one or more utilities can be passed between the fingers  30  and tool  100  and one or more utility lines  125  (block  208 ). The one or more utilities provide for the tool  100  to operate. While operating, the robot  120  moves the tool  100  to the desired location for the tool  100  to perform the operation (block  210 ). 
     The one or more utilities provided to the tool  100  can be the same as those required to operate the robot  120 . In another example, one or more of the utilities provided to the tool  100  are different than those required to operate the robot  120 . 
     The gripping device  10  is also configured to supply a fluid to an item  200  that is held by the tool  10 . As illustrated in  FIG. 12 , one or more channels  70  extend through one or more of the fingers  30  of the gripping device  10 . The channels  70  are spaced away from the utility connectors  90 . The channels  70  each include an inlet  72  that engage with an input line  85  that feeds the fluid. Each channel  70  further includes an outlet  71  at the inner side of the finger  30 . The channel  70  is positioned for the fluid to flow from the outlet  71  and onto an item  200  at the tool  100 . The example of  FIG. 12  includes the fluid being directed on the item  200  as it is being gripped by a gripping device tool  100 . Nozzles can be attached at the outlets  71  to direct the fluid. 
     The fluid is directed to the item  200  and does not pass through or into the tool  100  that is being gripped by the gripping device  10 . This configuration provides for the fluid to contact the item  200  while it is being gripped or otherwise treated by the tool  100 . This prevents the gripping device  10  having to move the item  200  to a separate location for treatment. For example, this prevents having to transport the item  200  to a wash facility. The input lines  85  can extend from the robot  120 , or can be separate from the robot  120 . Various fluids can be used within this configuration, including but not limited to water, air, cleaning solution, paint, and sealant. 
       FIG. 13  includes an example with the input lines  85  connecting directly to one or more of the fingers  106  of the tool  100 . Fluid that passes through the input lines  85  is directed from the inner side of the fingers  106  onto the item  200 . This provides for the item  200  to be washed or otherwise wetted while being held by the fingers  106 . 
     As illustrated in  FIG. 14 , a control unit  80  can oversee the operation of one or more of the gripping device  10  and robot  120 . The control unit  40  can signal control steps to one or more of the gripping device  10 , robot  120 , and utility sources  150 .  FIG. 14  illustrates the control unit  80  providing control for each of these components. Other examples can include the control unit  80  providing control for just the robot  120 , which in turn operates the gripping device  10  and provides for the one or more utilities from the utility sources  150 . The control unit  80  can be located at various locations, including remotely from these components, incorporated into the robot  120 , and incorporated into the gripping device  10 . 
     As illustrated in  FIG. 15 , the control unit  80  includes one or more processing circuits (shown as processing circuit  81 ) that can include one or more microprocessors, Application Specific Integrated Circuits (ASICs), or the like, configured with appropriate software and/or firmware. A computer readable storage medium (shown as memory circuit  82 ) stores data and computer readable program code that configures the processing circuit  81  to implement the techniques described above. Memory circuit  82  is a non-transitory computer readable medium, and can include various memory devices such as random access memory, read-only memory, and flash memory. An interface  83  is configured to communicate with the components. In one embodiment the interface  83  includes a transceiver configured to wirelessly communicate with the components. The interface  83  can also provide for hardwire connection with the components. The system interface  83  can also provide for the supply of power from a remote source. 
     For simplicity and illustrative purposes, the present invention is described by referring mainly to an exemplary embodiment thereof. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be readily apparent to one of ordinary skill in the art that the present invention may be practiced without limitation to these specific details. In this description, well known methods and structures have not been described in detail so as not to unnecessarily obscure the present invention. 
     The present invention may be carried out in other ways than those specifically set forth herein without departing from essential characteristics of the invention. The present embodiments are to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.