Robotic tool changer alignment modules
US9731392B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 5, 2014 |
| Grant date | Aug 15, 2017 |
| Priority date | — |
| Expiry date | Nov 10, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50291
- WIPO fieldMachine tools
- WIPO sectorMechanical engineering
Abstract
Alignment modules attached to a robotic tool changer assist spatial orientation and alignment of a robot arm relative to a robotic tool for location training. A three-axis spatial orientation sensor is first attached to an alignment module affixed to a tool unit. The sensor is “zeroed,” or calibrated to the spatial orientation of the tool unit. The sensor is transferred to a corresponding surface of an alignment module affixed to a master unit. The orientation of the robot arm is adjusted to eliminate sensor error signals indicating deviations from the zeroed orientation of the tool unit. An optical signal, such as a cross line laser beam, is then projected between the alignment modules. The x- and y-axis position of the robot arm is adjusted to align the optical signal with alignment markings. When the master and tool units are aligned, the robot arm is advanced in the z-axis direction until the master unit abuts the tool unit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.