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公开(公告)号：US10011022B1
公开(公告)日：2018-07-03
申请号：US15440471
申请日：2017-02-23
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yhu-tin Lin , Dooil Hwang , Maurice Perlman
CPC classification number: B25J15/0061
Abstract: An end-effector assembly includes a master boom, a frame rail coupled to the master boom, at least one branch rail movably coupled to the frame rail by a branch lock, and a swing arm movably coupled to the at least one branch rail by a swing lock. The swing lock includes a clamp configured to movably secure the swing arm to the branch rail. A pivot shaft extends through the clamp and the swing arm and is configured to rotationally secure the swing arm to the clamp. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. Further, a locking fastener extends through the swing plate and into the pivot shaft. The locking fastener is configured to lock and unlock the swing lock in position along the branch rail.
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公开(公告)号：US20160288322A1
公开(公告)日：2016-10-06
申请号：US15080069
申请日：2016-03-24
Inventor： Yhu-Tin Lin , Joerg Pohlers , Ken Dellach , Maurice Perlman
CPC classification number: B25J9/163 , B25J15/0061 , B25J15/0616 , G05B2219/39468 , Y10S901/41
Abstract: A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.
Abstract translation: 机器人系统包括机器人，设置在主起重臂的远端的端部执行器组件，可旋转的平行框架轨道和工具支撑分支。 工具模块连接到工具支撑分支并相对于相应的分支轴线可旋转/可平移。 配置工具具有由机器人的腕部和作业工具接合的控制块。 控制器命令机器人通过使用工作工具调整框架导轨和/或工具支撑分支或工具模块来自动配置末端执行器组件，以响应于所识别的工作任务来进行。 指挥手腕与换刀器的接合，并使用末端执行器组件执行识别的工作任务。 配置支架可以自动地将末端执行器组件翻转到配置位置，手腕与工具更换器的指令接合，以及配置末端执行器组件。
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公开(公告)号：US09808933B2
公开(公告)日：2017-11-07
申请号：US15080069
申请日：2016-03-24
Inventor： Yhu-Tin Lin , Joerg Pohlers , Ken Dellach , Maurice Perlman
CPC classification number: B25J9/163 , B25J15/0061 , B25J15/0616 , G05B2219/39468 , Y10S901/41
Abstract: A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.
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