Six and three degrees of freedom robotic systems for automatic and / or collaborative fastening operations

Abstract

A robotic system includes a support structure, a platform, a central serial chain, an outer serial chain, a motor, a sensor, and a control module. The central serial chain connects a center of the platform to the support structure and includes a first joint connected to a linear slide shaft. The outer serial chain is disposed radially outward of the central serial chain. Each outer serial chain includes a second joint connecting a rod to the platform and the support structure. The motor is connected to the outer serial chain. The sensor is connected to the platform and detects at least one of a force or a torque exerted on the platform by a human operator and generates a signal indicative of the force or the torque. The control module controls the motor based on the signal to assist the human operator in at least one of moving the platform or rotating the platform.

Description

Background Technology

[0001] The information provided in this section is for the purpose of presenting the general background of this disclosure. To the extent described in this section, the work of the currently named inventors and aspects of the description that may not constitute prior art at the time of filing are neither explicitly nor implicitly considered to be prior art of this disclosure.

[0002] This disclosure relates to robotic systems used for fasteners during production.

[0003] In the production of vehicles, for example, numerous fasteners (such as nuts, screws, bolts, etc.) are fastened to vehicle devices, components, parts, and structures. Fasteners can be fastened manually or using fully automated robotic systems. When fastening manually, a considerable amount of time is associated with setting up, tightening (referred to herein as "running"), and properly securing the fastener. When fasteners are tightened manually, thread misthreading errors can occur, slowing down production and increasing costs due to the repair and / or replacement of the parts involved. Simultaneously, the operator needs to hold the electric fastener gun, which can require considerable force. Repeating this process continuously can lead to fatigue.

[0004] While fully automated robotic systems can save time in fastening, they are configured for specific applications and specific devices and / or components. For example, if a nut is being installed on an engine, the automated robotic system includes a stop station configured for the specific engine and the nut involved. Nuts typically have the same size. The automated robotic system is not suitable for other devices and / or components. Furthermore, the fully automated system may include multiple fastening tools (e.g., nut tighteners) for tightening the nut. Fully automated robotic systems are bulky, complex, and expensive. Summary of the Invention

[0005] A robot system is provided, comprising a support structure, a movable platform, a central serial chain, external serial chains, motors, sensors, and a control module. The central serial chain connects the center of the movable platform directly or indirectly to the support structure and includes a first joint that connects directly or indirectly to a linear sliding shaft. External serial chains are radially disposed outside the central serial chain. Each external serial chain includes a second joint that connects a rod directly or indirectly to the movable platform and the support structure. Motors are connected to the external serial chains. Sensors are connected to the movable platform and configured to detect at least one of a force or torque applied by a human operator on the movable platform and generate a signal indicating at least one of the applied force or torque. The control module is configured to control the motors based on the signals to assist the human operator in moving or rotating at least one of the movable platforms.

[0006] Among other features, the external serial chains include at least three external serial chains.

[0007] Among other features, the external serial chains consist of three pairs of external serial chains. Each pair of external serial chains consists of two external serial chains.

[0008] Among other features, the external serial chains include six external serial chains.

[0009] Among other features, the second connector of each of the external serial chains comprises a first connector and a second connector. The first connector of each external serial chain is a universal joint. The second connector of each external serial chain is a ball joint.

[0010] Among other features, the external serial chains consist of three pairs of chains. The control module is configured to actuate each external serial chain independently.

[0011] Among other features, the robotic system also includes linear sliders. The external serial chain consists of three pairs of chains. Each of the three pairs of chains is connected to a corresponding linear slider.

[0012] Among other features, the first connector of the central serial chain includes a first connector and a second connector. Both the first and second connectors are universal joints.

[0013] Among other features, the drive fork of the first connector is aligned with the drive fork of the second connector. The driven fork of the first connector is aligned with the driven fork of the second connector.

[0014] Among other features, the external serial chain and the central serial chain provide the mobile platform with three degrees of freedom of motion or six degrees of freedom of motion.

[0015] Among other features, the external serial chains include: a first external serial chain, a second external serial chain, and a third external serial chain. The second external serial chain is positioned at a 120° azimuth interval from the first external serial chain relative to the centerline extending through the central serial chain. The third external serial chain is positioned at a 120° azimuth interval from the first and second external serial chains relative to the centerline extending through the central serial chain.

[0016] Among other features, the external serial chains include: a first external serial chain; a second external serial chain; and a third external serial chain. The second external serial chain is positioned at a 90° azimuth interval from the first external serial chain relative to the centerline extending through the central serial chain. The third external serial chain is positioned at a 180° azimuth interval from the first and second external serial chains relative to the centerline extending through the central serial chain.

[0017] Among other features, the robot system also includes: a fastening tool; and a bearing disposed between the movable platform and the fastening tool.

[0018] Among other features, the robotic system also includes a fastening tool that is attached to the central serial chain and rotates at least a portion of the central serial chain.

[0019] Among other features, a robotic system is provided, comprising a support structure, a movable platform, a gimbal-prismatic-universal serial chain, motors, sensors, and a control module. The gimbal-prismatic-universal serial chain directly or indirectly connects the center of the movable platform to the support structure. External serial chains are disposed radially outside the gimbal-prismatic-universal serial chain, each external serial chain being a prismatic-universal-spherical serial chain. Each external serial chain connects the movable platform to the support structure. Motors are connected to the external serial chains. Sensors are connected to the movable platform and configured to detect at least one of a force or torque applied by a human operator on the movable platform and generate a signal indicating at least one of the applied force or torque. The control module is configured to control the motors based on the signals to assist the human operator in moving or rotating at least one of the movable platforms.

[0020] Among other features, the universal-prismatic-universal serial chain includes a first universal joint, a linear sliding shaft, and a second universal joint.

[0021] Among other features, each external serial chain includes a linear slider, a universal joint, a rod, and a ball joint.

[0022] Among other features, a robot system is provided, comprising a support structure, a movable platform, a gimbal-prism-gimbal serial chain, a rotary-gimbal-spherical serial chain, motors, sensors, and a control module. The gimbal-prism-gimbal serial chain directly or indirectly connects the center of the movable platform to the support structure. The rotary-gimbal-spherical serial chain is disposed radially outside the gimbal-prism-gimbal serial chain. Each rotary-gimbal-spherical serial chain connects the movable platform to the support structure. Motors are connected to the rotary-gimbal-spherical serial chains. Sensors are connected to the movable platform and configured to detect at least one of a force or torque applied by a human operator on the movable platform and generate a signal indicating at least one of the applied force or torque. The control module is configured to control the motors based on the signals to assist the human operator in moving or rotating at least one of the movable platforms.

[0023] Among other features, the universal-prismatic-universal serial chain includes a first universal joint, a linear sliding shaft, and a second universal joint.

[0024] Among other features, each rotary-universal-spherical serial chain includes a rotary joint, a first link, a universal joint, a second link, and a spherical joint.

[0025] Further applications of this disclosure will become apparent from the detailed description, claims, and accompanying drawings. The detailed description and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0026] This disclosure will be more fully understood from the detailed embodiments and accompanying drawings, in which:

[0027] Figure 1 This is a front perspective view of an example of a six-degree-of-freedom (6-DOF) robot system mounted on a bracket according to this disclosure;

[0028] Figure 2 yes Figure 1 Top front perspective view of a 6-DOF robot system;

[0029] Figure 3 yes Figure 1 Bottom front perspective view of a 6-DOF robot system;

[0030] Figure 4 yes Figure 1 Top perspective view of a portion of a 6-DOF robot system without a support frame;

[0031] Figure 5 yes Figure 1 Bottom perspective view of a portion of the 6-DOF robot system without a support frame;

[0032] Figure 6 yes Figure 1 Bottom view of a 6-DOF robot system;

[0033] Figure 7 yes Figure 1 Top perspective view of the central serial chain of a 6-DOF robot system;

[0034] Figure 8 yes Figure 1 Bottom perspective view of the central serial chain of a 6-DOF robot system;

[0035] Figure 9 yes Figures 7-8 Representative view of the side box of the central serial chain;

[0036] Figure 10 This is a bottom perspective view of a 6-DOF robot system including a top-mounted fastening motor according to the present disclosure;

[0037] Figure 11 This is a front perspective view of an example of a 6-DOF robot system mounted on a bracket and including six motors for rotating six levers, according to this disclosure;

[0038] Figure 12 yes Figure 11 Top rear perspective view of a 6-DOF robot system;

[0039] Figure 13 yes Figure 11 Bottom front perspective view of a 6-DOF robot system;

[0040] Figure 14 yes Figure 11 Top perspective view of the central serial chain of a 6-DOF robot system;

[0041] Figure 15 yes Figure 11 Bottom perspective view of the central serial chain of a 6-DOF robot system;

[0042] Figure 16 This is a front perspective view of an example of a 3-DOF robot system mounted on a bracket and including three rotary motors, according to this disclosure;

[0043] Figure 17 yes Figure 16 Side view of the 3-DOF robot system and its support;

[0044] Figure 18 yes Figure 16 A top view of the 3-DOF robot system and its support structure;

[0045] Figure 19 yes Figure 16 Top front perspective view of a 3-DOF robot system;

[0046] Figure 20 yes Figure 16 Bottom front perspective view of a 3-DOF robot system;

[0047] Figure 21 yes Figure 16 Side view of a 3-DOF robot system;

[0048] Figure 22 yes Figure 16 Bottom view of a 3-DOF robot system;

[0049] Figure 23 yes Figure 16 Top perspective view of the central serial chain of a 3-DOF robot system;

[0050] Figure 24 yes Figure 16 Bottom perspective view of the central serial chain of the 3-DOF robot system; and

[0051] Figure 25A method for operating a robot system according to this disclosure is shown.

[0052] In the accompanying drawings, reference numerals may be used repeatedly to identify similar and / or identical elements. Detailed Implementation

[0053] Fully automated robotic systems typically include controllers, motors, arms, end effectors, sensors, etc., for automatically positioning, setting up, attaching, and / or securing components. No human interaction is involved. Each fully automated robotic system has limited applications, is complex, expensive, and requires a considerable amount of space.

[0054] Examples described herein include automated and / or collaborative 6-DOF and 3-DOF robotic systems (referred to as "robotic systems"). Fastening operations can be performed automatically and / or collaboratively. Robotic systems utilize human senses and intelligence to ensure rapid and accurate fastening at the start of the operation, while leaving most of the work solely to the robotic system. Robotic systems include a platform that can be moved with minimal resistance by a human system operator and a fastening tool that performs the fastening operation once positioned without the operator's assistance. Robotic systems offer high payload capacity and are low-cost and flexible, allowing each system to be applied to many different devices and components. The disclosed robotic systems can be used in a wide variety of vehicle and non-vehicle systems, components, devices, etc. Robotic systems can be used, for example, in vehicle systems, vehicle subsystems, engines, instrument panels, wheels, doors, panels, etc. Although in Figures 1-24 The following robot system is shown in a vertically upright arrangement. The robot system can also be arranged at an angle, horizontally, or inverted.

[0055] Figures 1-8 A 6-DOF robot system 100 mounted on a bracket 102 is shown. The bracket 102 includes a platform (or workbench) 104 supporting a device (e.g., a motor) 106 disposed thereon. Although the device 106 is shown, other work-on objects can be placed on the platform 104. An operator 108 stands in the front opening area of ​​the bracket 102 and can move the lower end 109 of the 6-DOF robot system 100 to attach fasteners to the device 106. The operator 108 can move the lower end 109 via a handle 110 to move a fastening tool (e.g., a nut tightener) 112 with fastener retaining ends 114 to the position where the fasteners on the device 106 will be attached and secured to the device 106. The fastening tool 112 can retain various fastener retaining ends for various types and styles of fasteners. Each fastener retaining end can be adjusted for different types and styles of fasteners.

[0056] The 6-DOF robot system 100 includes a frame 120 with a top plate 122 and supported by a bracket 102, six prism-omnidirectional-spherical serial chains (referred to as external serial chains) 124, and a central omnidirectional-prism-omnidirectional serial chain (referred to as central serial chain) 126.

[0057] The six external serial chains 124 comprise three pairs of chains. Each pair of chains may be connected in parallel or not. For example, if the tool is used to work on a nut that is not on a flat surface, the two links on a pair of chains may be twisted relative to each other (in space). The six external serial chains 124 comprise six linear sliders 128 mounted on the frame 120 and attached to the movable platform 130 via six rods (or links) 132. The rods 132 are attached to the linear sliders 128 via universal joints 134, each universal joint having 2-DOF. The linear sliders 128 are attached to three vertical plates 135, which are attached to the frame 120. The rods 132 are attached to the platform 130 via ball joints 136 having 3-DOF. Each linear slider 128 may include a corresponding ball screw rotated by a corresponding rotary motor (rotary motor 140 shown). Figure 3 A ball screw 138 is shown. A rotary motor 140 is attached to a linear slider 128 via a bracket 141. The term "prismatic-universal-spherical" refers to the linear slider 128, the universal joint 134, and the ball joint 136. The linear slider 128 may be referred to as a prismatic joint. Six external serial chains 124 provide six individually driven serial chains for 6-DOF motion control.

[0058] The central serial chain 126 can be directly or indirectly connected to the frame 120 and / or bracket 102 and / or other support structures, such as the top plate 122. The central serial chain 126 includes: a first universal joint 150, which is mounted to the top plate 122 via a coupling 154; a linear telescopic sliding shaft (or first shaft) 156 including an internal member 158 and an external member 160; a second universal joint 162; a second shaft 164; a platform 130; and a fastening tool (e.g., a nut tightener) 112. The terms "universal-prismatic-universal" or "UPU" refer to the first universal joint 150, the first shaft 156, and the second universal joint 162. The first shaft 156 may be referred to as a prismatic joint. The second universal joint 162 is aligned with the first universal joint 150 such that the axis of a pair of forks of the first universal joint 150, mounted on the first shaft 156 (on the inner member 158), is parallel to the axis of a pair of forks of the second universal joint 162, mounted on the first shaft 156 (on the outer member 160). The center serial chain 126 is able to extend or retract due to the first shaft 156, wherein the outer member 160 slides freely relative to the inner member 158, which allows vertical movement of the platform 130. The center chain (or UPU chain) provides 5DOF, wherein rotational movement about the chain axis (the vertical axis at the initial position) is restricted. This allows the chain to counteract the torsional torque of the nut tightener in passive mode, or to transmit torque to the end caps in active mode. When in active mode, the motor can be implemented behind the first U-joint. The motor flange is fixed to the top plate. The motor shaft is connected to the first U-joint via a coupling. The center serial chain 126 allows 6-DOF movement in active state and when only torque is applied. More specifically, a sixth degree of freedom is provided when actively driven, where the first universal joint can rotate via the drive motor, and another 5 degrees of freedom is provided when a central serial chain is used for torque transmission and resistance. In the 5-DOF case, the first universal joint is locked and cannot rotate, thus reducing the DOF by one. Universal joints 150 and 162 resist and / or counteract the torque associated with the operation of the fastening tool 112.

[0059] Platform 130 is held in place by six external serial chains (or legs) 124 and a central serial chain (or leg) 126, and can be moved by an operator via handle 110 with minimal resistance. Control module 170 is connected to the rotary motor 140 of linear slider 128, the motor 171 of fastening tool 112, and sensor 172, and controls the positioning of platform 130 and thus fastening tool 112 relative to frame 120, support platform 104, and device 106. Control module 170 can detect forces applied to handle 110 via sensor 172 and, in response, provide active compliance by assisting operator 108 in moving platform 130 in the direction of the applied force based on feedback from sensor 172. Platform 130 can move in the x, y, and z directions and can tilt about the x, y, and z axes.

[0060] In this embodiment, the 6-DOF system 100 operates as a collaborative system, through which (i) the operator 108 senses movement of the platform 130 to a starting position and provides closed-loop feedback, and (ii) the robot system 100 performs fastening (or tightening) of fasteners. In one embodiment, the operator 108 attaches a fastener to the end of a fastening tool 112, moves the platform 130 to the starting position with the assistance of the robot system 100, indicates that fastening of the fastener has begun, and waits to hear and / or see a completion indication. The indication to begin fastening can be provided by the operator 108 touching an input device 173, which is a start button such as on the platform 130 or elsewhere. The input device 173 may be located on the robot system 100, the support 102, or elsewhere. The completion indication may be provided by an indicator 174. Indicator 174 may include a light, a speaker, a clicking device configured to produce a "click" sound when a predetermined torque level has been reached on the corresponding fastener, a message on a display, etc. In one embodiment, the fastening tool 112 produces a clicking sound when the fastener has been tightened to a predetermined level. In another embodiment, control module 170 automatically controls the initial positioning of the fastening tool to set the fastening position and tightening of the fastener.

[0061] Control module 170 controls the operation of rotary motor 140 and motor 171 of fastening tool 112 based on feedback from sensor 172. Sensor 172 can be mounted to platform 130 as shown and provides feedback to control module 170. In one embodiment, sensor 172 is a 6-dimensional force and torque sensor that measures the forces and torques applied to platform 130 by operator 108 and fastening tool 112. Sensor 172 measures the forces and torques in the Cartesian coordinate directions (x, y, z) and the corresponding angular torques about the x, y, z axes.

[0062] Figure 9 It shows Figures 1-8 A representative block view of the central serial chain 126 (referred to as central serial chain 126'). The central serial chain 126' includes: a first universal joint 150' mounted to the top plate 122'; a linear telescopic sliding shaft (or first shaft) 156'; a second universal joint 162'; a second shaft 164'; a platform (or end effector) 130'; and a fastening tool (e.g., a nut tightener) 112' with an end 114'. Figure 9 The diagram illustrates the situation where the central chain is passively used to resist tightening torque from a torque gun mounted at the center of 130. If used to actively provide tightening torque from the top, the first universal joint 150' can also be driven by a torque generator / wrench from the top plate 122', as further described below. The tightening tool 112' includes a motor 171' that rotates a shaft 900, which in turn rotates an end 114'. In the example shown, the tightening tool 112' extends through the platform 130', the sensor 172', and rides on a bearing 902 mounted in the platform 130'. The platform 130' may include two plates, with the sensor 172' positioned between and in contact with both plates, as shown. The platform 130' is connected to the linear slider 128' via a rod 132'. Universal joints 150' and 162' are aligned with each other as described above. Universal joints 150' and 162' resist and / or counteract the torque associated with the operation of the tightening tool 112'. The external serial chain 124 associated with rod 132' does not resist and / or counteract the torque associated with operating fastening tool 112' due to bearing 902, which allows fastening tool 112' to rotate relative to platform 130' and rotation axis 906. Fastening tool 112' is separated from platform 130' via bearing 902.

[0063] Figure 10 It shows something similar to Figures 1-8 The 6-DOF robot system 1000, in addition to including a fastening tool near the end of the central serial chain, includes a top-mounted fastening motor 1002. The top-mounted fastening motor 1002 is attached to a first universal joint 1004, which is attached to a prismatic joint (or first axis) 1006. The first axis 1006 may include... Figures 1-8 Similar internal and external components are included, such as components 158 and 160. The prismatic joint 1006 is attached to a second universal joint 1008, which is attached to a second shaft 1010. The second shaft 1010 is attached to a platform 1012 that includes a sensor 1014. The sensor 1014 is compatible with… Figures 1-8 The sensor 172 is similarly constructed and operates. The second shaft 1010 rotates the end shaft 1016 connected to the end 1018.

[0064] The 6-DOF robot system 1000 also includes a frame 1020, a top plate 1022, and a rotary motor 1024 that actuates a linear slider 1026, which in turn moves a corresponding external serial link 1028. Motors 1002 and 1024 are controlled via a control module (e.g., based on the output of sensor 1014). Figure 4 The control module shown in the figure is used for control.

[0065] Although the six outer serial chains are shown as comprising three pairs of outer serial chains, each pair positioned 120° apart from each other relative to the centerline 166, the pairs of outer serial chains can have different separation angles. For example, two of the pairs can be separated by 180°, with the third pair separated by 90° from the other two pairs. See, for example, [link to relevant documentation]. Figures 11-13 The arrangement shown is such that, with two pairs spaced 180° apart, the external serial chain pairs are not obstructed and allow the operator better access to the device being processed and the movable platform 130.

[0066] Figures 11-15 A 6-DOF robot system 1100 is shown mounted on a bracket 1102. The bracket 1102 includes a platform (or workbench) 1104 that supports a device (e.g., a motor) 1106 disposed thereon. An operator 1108 stands in the front opening area of ​​the bracket 1102 and can move the lower end 1109 of the 6-DOF robot system 1100 to set fasteners on the device 1106. The operator 1108 can move the lower end 1109 to move a fastening tool (e.g., a nut tightener) 1112 with a fastener retaining end 1114 to the position on the device 1106 where the fastener is to be attached and tightened to the device 1106.

[0067] The 6-DOF robot system 1100 includes a top plate 1120 attached to a support 1102, six rotary-omnidirectional-spherical serial chains (referred to as external serial chains) 1124, and a central omnidirectional-prismatic-omnidirectional serial chain (referred to as the central serial chain) 1126.

[0068] Six external serial chains 1124 include six rods 1128 rotated by six rotary motors 1129 mounted to a top plate 1120. The six rods 1128 are attached to six additional rods 1132 via universal joints 1134. The six rods 1132 are attached to a movable platform 1136 via ball joints 1138. Each universal joint 1134 has 2-DOF (do-of-flight) motion. Each ball joint 1138 has 3-DOF motion.

[0069] The term "rotary-universal-ball joint" refers to (i) the connection between the rotary motor 1129 and the rod 1128, (ii) the universal joint 1134, and (iii) the ball joint 1138. The connection between each pair of the rotary motor 1129 and the rod 1128 is a rotary joint 1140, which allows the oscillating motion of the rod 1128. Six external serial chains 124 provide six individually driven serial chains for 6-DOF motion control.

[0070] The central serial chain 1126 includes a first universal joint 1150 mounted to a cover 1152. The cover 1152 is mounted to a top plate 1120. The central serial chain 1126 also includes: a linear telescopic sliding shaft (or first shaft) 1156, which includes an inner member 1158 and an outer member 1160; a second universal joint 1162; a second shaft 1164; a platform 1136; and a fastening tool (e.g., a nut tightener) 1112. The term "universal-prismatic-universal" refers to the first universal joint 1150, the first shaft 1156, and the second universal joint 1162. The first shaft 1156 may be referred to as a prismatic joint. The second universal joint 1162 is aligned with the first universal joint 1150 such that the axis of a pair of forks of the first universal joint 1150, mounted on the first shaft 1156 (on the inner member 1158), is parallel to the axis of a pair of forks of the second universal joint 1162, mounted on the first shaft 1156 (on the outer member 160). The center serial chain 1126 is able to extend or retract due to the first shaft 1156, wherein the outer member 1160 slides freely relative to the inner member 1158, which allows vertical movement of the platform 1136. The center chain (or UPU chain) provides 5DOF, wherein rotational movement about the chain axis (the vertical axis at the initial position) is restricted. This allows the chain to counteract the torsional torque of the nut tightener in passive mode, or to transmit torque to the end caps in active mode. In active mode, the motor can be realized behind the first U-joint. The motor flange is fixed to the top plate. The motor shaft is connected to the first U-joint via a coupling. The center serial chain 1126 allows 6-DOF of movement and applies torque only in the active state, and 5-DOF in the passive state, resisting the driving torque of the fastening tool 1112. More specifically, it provides 6 degrees of freedom when actively driven, where the first universal joint can be rotated by the drive motor to provide additional DOF, and provides an additional 5 DOF when the center serial chain is used for torque transmission and resistance. In the 5 DOF case, the first universal joint is locked and cannot rotate, thus reducing the DOF by one. Universal joints 1150 and 1162 resist and / or counteract the torque associated with operating the fastening tool 1112.

[0071] Platform 1136 is held in place by six external serial chains (or legs) 1124 and a central serial chain (or leg) 1126, and can be moved by the operator with minimal resistance. Control module (e.g., Figure 4 The control module 170 is connected to the rotary motor 1129, the motor of the fastening tool 1112, and the sensor 1172, and controls the positioning of the platform 1136 and thus the fastening tool 1112 relative to the bracket 1102, the top plate 1120, the support platform 1104, and the device 1106. The control module can detect the force applied to the platform 1136 via the sensor 1172, and in response, assist the operator 1108 in moving the platform 1136 in the direction of the applied force based on feedback from the sensor 1172. Therefore, active compliance is provided as described above. The sensor 1172 can be connected to... Figures 1-8 The sensor 172 is similarly configured and operated. The platform 1136 is movable in the x, y, and z directions and tiltable about the x, y, and z axes. The platform 1136 may include a handle for moving the platform 1136 as described above.

[0072] The aforementioned 6-DOF robot system provides operational freedom at various x, y, and z positions and angles relative to the x, y, and z axes. Parallel robot serial chains offer high load capacity and system rigidity. External serial chains can be arranged at various angles to improve operator accessibility.

[0073] Figures 16-24 A 3-DOF robot system 1600 is shown mounted on a bracket 1602. The bracket 1602 includes a platform (or workbench) 1604 supporting a device (e.g., a motor) 1606 disposed thereon. An operator 1608 stands in the front opening area of ​​the bracket 1602 and can move the lower end 1609 of the 3-DOF robot system 1600 to attach fasteners to the device 1606. The operator 1608 can move the lower end 1609 to move a fastening tool (e.g., a nut tightener) 1612 with a fastener retaining end 1614 to the position where the fasteners on the device 1606 will be attached and secured to the device 1606.

[0074] The 3-DOF robot system 1600 includes a frame 1601 attached to a bracket 1602, a top plate 1620, three prismatic-universal-universal (PUU) serial chains (referred to as the outer serial chains) 1624, and a center-universal-prismatic-universal serial chain (referred to as the center serial chain) 1626. Although described as a PUU serial chain, the chains can be prismatic-universal-spherical (PUS) serial chains, where the final joint in each chain is a spherical joint instead of a universal joint. Universal joints can be used to provide 3-DOF; however, spherical joints are used to facilitate the manufacture and assembly of the robot system 1600.

[0075] Three external serial chains 1624 include six rods 1628 attached to three linear sliders 1629, which are actuated by three rotary motors 1630 mounted to a top plate 1620. Three pairs of six rods 1628 are connected to the three linear sliders 1629 via six universal joints 1634 (referred to as prismatic joints). Each pair of rods 1628 is connected in parallel. The linear sliders 1629 may include corresponding ball screws 1631. The six rods 1628 are also attached to a movable platform 1636 via universal joints or ball joints 1638. Each joint 1634, 1638 has 2-DOF motion.

[0076] The terms "prismatic-universal-universal" and "prismatic-universal-spherical" refer to the linear slider 1629, universal joint 1634, and joint 1638, which can be either universal joints or spherical joints. Three external serial chains 1624 provide three individually driven serial chains for 3-DOF motion control. Each external serial chain 1624 includes a submechanism comprising two parallel universal-universal chains provided by joints 1634, 1638, and lever 1628. The three external serial chains 1624 maintain the orientation of the end effector (or platform) 1636.

[0077] The central serial chain 1626 includes a first universal joint 1650 mounted to a cover 1652. The cover 1652 is mounted to a top plate 1620. The central serial chain 1626 also includes: a linear telescopic sliding shaft (or first shaft) 1656, which includes an inner member 1658 and an outer member 1660; a second universal joint 1662; a second shaft 1664; a platform 1636; and a fastening tool (e.g., a nut tightener) 1612. The term "universal-prismatic-universal" refers to the first universal joint 1650, the first shaft 1656, and the second universal joint 1662. The first shaft 1656 may be referred to as a prismatic joint. The second universal joint 1662 is aligned with the first universal joint 1650 such that the axis of the pair of forks of the first universal joint 1650, mounted on the first shaft 1656 (on the inner member 1658), is parallel to the axis of the pair of forks of the second universal joint 1662, mounted on the first shaft 1656 (on the outer member 160). The center serial chain 1626 is capable of extending or retracting due to the first shaft 1656, wherein the outer member 1660 slides freely relative to the inner member 1658, which allows for vertical movement of the platform 1636. The center chain (or UPU chain) provides 5DOF, wherein rotational movement about the chain axis (the vertical axis at the initial position) is restricted. This allows the chain to counteract the torsional torque of the nut tightener in passive mode, or to transmit torque to the end caps in active mode. In active mode, the motor can be realized behind the first U-joint. The motor flange is fixed to the top plate. The motor shaft is connected to the first U-joint via a coupling. The center serial chain 1626 allows 6-DOF movement and applies torque in the active state; it allows 5-DOF movement in the passive state and counteracts the driving torque of the fastening tool 1612. More specifically, 6-DOF is provided when actively driven, in which case the first universal joint can rotate, and 5-DOF is provided when the center serial chain is used for torque resistance. In the 5-DOF case, the first universal joint is locked and cannot rotate, thus reducing the DOF by one. Universal joints 1650 and 1662 resist and / or counteract the torque associated with operating the fastening tool 1612.

[0078] Platform 1636 is held in place by three external serial chains (or legs, each consisting of two parallel links) 1624 and a central serial chain (or leg) 1626, and can be moved by the operator with minimal resistance. The control module (e.g., Figure 4The control module 170 is connected to the rotary motor 1630, the motor of the fastening tool 1612, and the sensor 1672, and controls the positioning of the platform 1636 and thus the fastening tool 1612 relative to the bracket 1602, the top plate 1620, the support platform 1604, and the device 1606. The control module can detect the force applied to the platform 1636 via the sensor 1672 and, in response, assist the operator 1608 in moving the platform 1636 in the direction of the applied force based on feedback from the sensor 1672. Therefore, active compliance is provided as described above. The sensor 1672 can be connected to... Figures 1-8 The sensor 172 is similarly configured and operated. Platform 1636 is movable in the x, y, and z directions. Platform 1636 remains parallel to the ground (or floor) on which the supporting platform 1604, top plate 1620, and / or bracket 1602 are disposed. Platform 1636 cannot be rotated via robot system 1600. Platform 1636 may include handles for movement of platform 1636 as described above.

[0079] The aforementioned robot systems include 6-DOF and 3-DOF systems. The 6-DOF system provides operational degrees of freedom in different x, y, and z directions and at angles relative to the x, y, and z axes. The 3-DOF system provides operational degrees of freedom in different x, y, and z directions. Parallel robot serial chains offer high load capacity and system rigidity. External serial chains can be arranged at various angles to improve operator accessibility. The 3-DOF system is a simplified variant of the 6-DOF system. The 3-DOF system can save on construction costs, but it sacrifices flexibility, such as the ability to tighten nuts at tilted / angled orientations.

[0080] Figure 25 A method for operating a robotic system, such as any of the robotic systems disclosed herein, is illustrated. The method may begin at point 2500. At point 2502, a fastening tool may grip a fastener as described above. At point 2504, the platform of the robotic system (e.g., Figure 4 Sensors (e.g., on platform 130 or other mobile platforms) Figure 4 The sensor 172 or other sensors disclosed herein can detect the force and / or torque applied to the platform.

[0081] At 2506, the control module (e.g., Figure 4The control module 170 can generate one or more control signals for one or more motors based on the output of sensors. In one embodiment, the operations performed by the control module are implemented as machine-executable instructions stored on a non-transitory computer-readable medium. At 2508, the control module provides active compliance by controlling the output of one or more motors based on the one or more motor control signals to assist the movement of the platform. The assisted movement can be in the x, y, z directions and / or around the x, y, z axes.

[0082] At point 2510, the control module can receive or generate an instruction to begin tightening the fasteners. This can be based on an input device (e.g., Figure 4 The input device 173 receives input from the user and / or based on the platform's position and / or orientation. At 2512, the control module tightens the fastener to a predetermined torque level via a fastening tool. At 2514, the control module generates an indication that the fastener has been tightened and the fastener has been released. If another fastener needs to be tightened, operation 2502 can be performed; otherwise, the method can end at 2018.

[0083] The foregoing description is illustrative in nature and is in no way intended to limit this disclosure, its application, or use. The broad teachings of this disclosure can be implemented in various forms. Therefore, while this disclosure includes specific examples, its true scope should not be so limited, as other modifications will become apparent upon examination of the drawings, specification, and appended claims. It should be understood that one or more steps within the method may be performed in different orders (or simultaneously) without altering the principles of this disclosure. Furthermore, although each of the embodiments described above is described as having certain features, any one or more of those features described with respect to any embodiment of this disclosure may be implemented in features of any of other embodiments and / or combined with features of any of other embodiments, even if such combinations are not explicitly described. In other words, the described embodiments are not mutually exclusive, and substitutions of one or more embodiments for each other remain within the scope of this disclosure.

[0084] Various terms are used to describe spatial and functional relationships between elements (e.g., between modules, circuit elements, semiconductor layers, etc.), including “connection,” “joint,” “link,” “adjacent,” “next to,” “on top,” “above,” “below,” and “set.” Unless explicitly described as “direct,” when a relationship between first and second elements is described in the foregoing disclosure, the relationship can be a direct relationship in which no other intermediate elements exist between the first and second elements, but it can also be an indirect relationship between the first and second elements (spatially or functionally) in which one or more intermediate elements exist. As used herein, at least one of the phrases A, B, and C should be interpreted as indicating logic (A or B or C) using non-exclusive OR logic, and should not be interpreted as indicating “at least one of A, at least one of B, and at least one of C.”

[0085] In the accompanying drawings, the direction of the arrows, as indicated by the arrows, typically represents the flow of information of interest (such as data or instructions). For example, when elements A and B exchange various types of information, but the information transmitted from element A to element B is relevant to the illustration, the arrow may point from element A to element B. This unidirectional arrow does not imply that no other information is transmitted from element B to element A. Furthermore, for information sent from element A to element B, element B may send a request for that information or an acknowledgment of receipt of that information to element A.

[0086] In this application, including the following definitions, the term "module" or "controller" may be replaced by the term "circuit". The term "module" may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed-signal analog / digital discrete circuit; digital, analog, or mixed-signal analog / digital integrated circuit; combinational logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by said processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0087] This module may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the Internet, a wide area network (WAN), or a combination thereof. The functionality of any given module of this disclosure may be distributed across multiple modules connected via the interface circuits. For example, multiple modules may allow for load balancing. In a further example, a server (also referred to as a remote or cloud) module may perform some functions on behalf of a client module.

[0088] As used above, the term "code" can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuitry" covers a single processor circuitry that executes some or all of the code from multiple modules. The term "group processor circuitry" covers a processor circuitry that, in conjunction with additional processor circuitry, executes some or all of the code from one or more modules. References to multiprocessor circuitry cover multiprocessor circuitry on discrete dies, multiprocessor circuitry on a single die, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination thereof. The term "shared memory circuitry" covers a single memory circuitry that stores some or all of the code from multiple modules. The term "group memory circuitry" covers a memory circuitry that, in conjunction with additional memory, stores some or all of the code from one or more modules.

[0089] The term “memory circuit” is a subset of the term “computer-readable medium” (CRM). As used herein, the term CRM does not cover transient electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); therefore, the term “computer-readable medium” can be considered tangible and non-transient. Non-limiting examples of non-transient, tangible CRMs are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0090] The apparatus and methods described in this application can be implemented, in part or in whole, by a special-purpose computer created by configuring a general-purpose computer to perform one or more specific functions implemented in a computer program. The aforementioned function blocks, flowchart components, and other elements serve as software specifications that can be converted into computer programs by the routine work of skilled technicians or programmers.

[0091] A computer program includes processor-executable instructions stored on at least one non-transitory tangible CRM. A computer program may also include or depend on stored data. A computer program may encompass a basic input / output system (BIOS) that interacts with the hardware of a special-purpose computer, device drivers that interact with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0092] Computer programs may include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated from source code by a compiler; (iv) source code executed by an interpreter; (v) source code compiled and executed by a just-in-time (JIT) compiler; and so on. As an example only, source code can be written using syntax from languages ​​including C, C++, C#, Objective C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, JavaScript®, HTML5 (Hypertext Markup Language 5th Revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB, SIMULINK, and Python®.

Claims

1. A robot system, comprising: Support structure; Mobile platform; A central serial chain that connects the center of the movable platform directly or indirectly to the support structure, and includes a first plurality of joints that are directly or indirectly connected to a linear telescopic sliding shaft, wherein the first plurality of joints of the central serial chain includes a first joint and a second joint, the first joint and the second joint being universal joints, and the first joint being configured to be lockable. Multiple external serial chains are arranged radially outside the central serial chain, each of the multiple external serial chains including a rod and a second plurality of joints that directly or indirectly connect the rod to the movable platform and the support structure. Multiple motors, each connected to the multiple external serial chains; Sensors, connected to the movable platform and configured to detect at least one of a force or torque applied by a human operator on the movable platform and generate a signal indicating the at least one of the applied force or torque; and A control module configured to control the plurality of motors based on the signal to assist the human operator in performing at least one of the following: moving the movable platform or rotating the movable platform.

2. The robot system of claim 1, wherein the plurality of external serial chains comprises at least three external serial chains.

3. The robot system according to claim 1, wherein: The plurality of external serial chains includes three pairs of external serial chains; and Each pair of external serial chains consists of two external serial chains.

4. The robot system of claim 1, wherein the plurality of external serial chains comprises six external serial chains.

5. The robot system according to claim 1, wherein: The second plurality of connectors for each of the plurality of external serial chains includes a first connector and a second connector; The first connector of each of the plurality of external serial chains is a universal joint; and The second connector of each of the plurality of external serial chains is a ball connector.

6. The robot system according to claim 5, wherein: The plurality of external serial chains includes three pairs of chains; and The control module is configured to independently actuate each of the plurality of external serial chains.

7. The robot system according to claim 6 further includes a plurality of linear sliders, wherein: The plurality of external serial chains includes three pairs of chains; and Each of the three pairs of chains is connected to a corresponding one of the plurality of linear sliders.

8. The robot system according to claim 1, wherein: The drive fork of the first connector is aligned with the drive fork of the second connector; and The driven fork of the first connector is aligned with the driven fork of the second connector.

9. The robot system of claim 1, wherein the plurality of external serial chains and the central serial chain provide three degrees of freedom motion for the mobile platform or six degrees of freedom motion for the mobile platform.

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