Tooling Joint Related Systems and Assemblies

Abstract

An exemplary joint includes an electric motor having an output shaft, a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, a gear rotatably coupled to the clamp shaft, a locking module including a piston and a locking spring that applies a biasing force to the piston, and at least one pawl movable by the piston, such that (i) when the piston is actuated, the piston moves against the locking spring, allowing the at least one pawl to move away from the gear and allowing the gear and clamp shaft to rotate with the output shaft of the electric motor, and (ii) when the piston is not actuated, the locking spring biases the piston, causing the at least one pawl to move toward and engage the gear, locking it in place and thereby preventing the clamp shaft from rotating.

Description

[Background technology]

[0001] In a manufacturing facility, various manufacturing and assembly operations are performed on a large number of configured workpieces, including manufacturing (e.g., machining, welding, stamping, etc.) and assembly operations performed on the workpieces, as well as handling and shuttling of the workpieces between workstations.

[0002] A particular operation may be performed on the workpiece at each workstation, and once the operation at a workstation is performed, the workpiece is moved to the next workstation where further operations may be performed.

[0003] Workpiece handling and shuttle operations involve the use of tooling assemblies that are attached to the workpiece and move the workpiece from one workstation to another. To accommodate different types of workpieces and associated operations, tooling assemblies can take on a variety of configurations. Conventional tooling assemblies use various sections of tubing interconnected by various rigid mounts to secure various workpieces, but such designs typically provide little or no adjustment in the tooling assembly. For different workpieces, tools or end effectors may need to be manually changed, and joints may also be manually adjusted to position the tooling assembly in a specific desired configuration suited to the particular workpiece.

[0004] Tuning the tooling assembly for a particular workpiece and changing the end effector is a time-consuming and tedious process. Manually changing the configuration for every workpiece can be time-consuming and costly. Summary of the Invention [Problem to be solved by the invention]

[0005] It would therefore be desirable to provide an automated workpiece transfer system that can be adjusted for any configuration of workpieces without having to manually make any adjustments or replacements. It is with respect to these and other considerations that the disclosure set forth herein is presented. [Means for solving the problem]

[0006] Among the examples described herein, the present disclosure describes implementations relating to systems and methods related to tooling joints.

[0007] In a first exemplary implementation, the present disclosure describes a joint including an electric motor having an output shaft, a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, a gear rotatably coupled to the clamp shaft, a locking module including a piston and a locking spring that applies a biasing force to the piston, and at least one pawl movable by the piston, such that (i) when the piston is actuated, the piston moves against the locking spring to allow the at least one pawl to move away from the gear and allow the gear and clamp shaft to rotate with the output shaft of the electric motor, and (ii) when the piston is not actuated, the locking spring biases the piston to move the at least one pawl toward and engage the gear to lock it in place, thereby preventing the clamp shaft from rotating.

[0008] In a second exemplary implementation, the present disclosure discloses a system including a transfer rail and a plurality of arms coupled to the transfer rail, each arm having a plurality of joints including the joints of the first exemplary implementation.

[0009] In a second exemplary implementation, the present disclosure describes a method of actuating a joint, the method including providing fluid to a locking module of the joint, thereby moving a piston of the locking module to an actuated position and disengaging at least one pawl from a gear of the joint, sending a command signal to an electric motor of the joint, the electric motor having an output shaft, the joint having a clamp with a clamp shaft rotatably coupled to the output shaft of the electric motor, the gear being rotatably coupled to the clamp shaft such that the command signal rotates the output shaft, the clamp shaft, and the gear, and venting fluid from the locking module, causing a locking spring to return the piston to a non-actuated position, thereby causing the piston to move at least one pawl toward and engage the gear and locking the gear in place to prevent the clamp shaft from rotating.

[0010] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the exemplary aspects, implementations, and configurations described above, further aspects, implementations, and configurations will become apparent by reference to the figures and the following detailed description. [Brief explanation of the drawings]

[0011] The novel features believed to be present in the illustrative examples are set forth in the appended claims. However, the illustrative examples, as well as their preferred modes of use, further objects and descriptions, will best be understood by reference to the following detailed description of illustrative examples of the present disclosure when read in conjunction with the accompanying drawings.

[0012] [Figure 1] 1 illustrates a system for transferring a workpiece, according to an example.

[0013] [Figure 2] 1 illustrates a partial view of a system in accordance with an exemplary implementation.

[0014] [Figure 3] 1 illustrates a partial side view of a joint according to an exemplary implementation.

[0015] [Figure 4] 10 illustrates another joint according to an example implementation.

[0016] [Figure 5] 10 illustrates another joint according to an example implementation.

[0017] [Figure 6] 5 illustrates a perspective exploded view of the joint of FIG. 4 according to an exemplary implementation.

[0018] [Figure 7] FIG. 1 illustrates a partially exploded perspective view of a gear assembly according to an exemplary implementation.

[0019] [Figure 8] 1 illustrates a transparent perspective view of a lock module according to an exemplary implementation.

[0020] [Figure 9] 9 illustrates a perspective cross-sectional view of the lock module of FIG. 8 according to an exemplary implementation.

[0021] [Figure 10] 9 illustrates a cross-sectional side view of the lock module of FIG. 8 according to an exemplary implementation.

[0022] [Figure 11] 7 illustrates a partial perspective view of the joint of FIG. 6 according to an exemplary implementation.

[0023] [Figure 12] 7 illustrates a partial top view of the joint of FIG. 6 according to an exemplary implementation.

[0024] [Figure 13] 10 is a flowchart of a method for actuating a joint, according to an example implementation. DETAILED DESCRIPTION OF THE INVENTION

[0025] The disclosed examples are now described in more detail below with reference to the accompanying drawings, in which some, but not all, of the disclosed examples are shown. Indeed, several different examples may be described, and the examples set forth herein should not be construed as being limited to the examples. Rather, these examples are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0026] Disclosed herein are systems, methods, and assemblies relating to tooling joints that can be used in a workpiece transfer system having multiple arms coupled to movable rails for use in a manufacturing environment including successive workstations. The arms act as tooling assemblies having end effectors that are attached to or configured to hold workpieces for transferring the workpieces between successive workstations. Specifically, the arms are attached to movable rails that are actuated to move the arms with the workpieces between two successive workstations.

[0027] Each arm can have links coupled to each other via respective joints, and the end effectors can be coupled to the end links of the arms. The controller is configured to unlock the joints and then activate the electric motors to place the arms in a particular configuration in space appropriate for a particular workpiece without the need for manual adjustments. Once the arm configuration is achieved, the joints are locked.

[0028] The disclosed joint is compact compared to conventional joints, allowing arm links to be precisely rotated to position the arms and end effectors in a desired configuration, thereby reducing the space required for each arm.

[0029] Once the arm configuration is achieved and the joints are locked, the system is ready to pick up a workpiece and move it from one workstation to another. Specifically, the system controller can actuate the rail to position it near or above the workpiece at a workstation, move the rail toward the workpiece, allow the arm and end effector to engage the workpiece, and then move the rail to the next workstation. The workpiece can then be released, and the rail and associated arm are moved out of the way to allow a manufacturing operation to be performed on the workpiece. The system controller then actuates the rail back to the previous workstation, where the cycle begins again with the next workpiece.

[0030] 1 illustrates a system 100 for transferring workpieces, according to an example. System 100 includes a tube 102 to which an arm 104 and an arm 106 are attached. Arms 104 and 106 may also be referred to as a tooling assembly.

[0031] Arms 104 and 106 are each configured as jointed arms having multiple arm linkages (e.g., tubes) rotatably coupled to tube 102 and rotatably coupled to each other at respective joints. For example, arm 104 has joint 108, joint 110, and joint 112. Joint 110 is coupled to joint 108 via tube 111, and joint 112 is coupled to joint 110 via tube 113. Arm 104 further has an end effector 114 (e.g., a gripper) configured to attach or capture a workpiece.

[0032] Similarly, arm 106 has joint 116 and joint 118 coupled to joint 116 via tube 119. Arm 106 further has an end effector 120 (e.g., a gripper) configured to attach or capture a workpiece.

[0033] The joints 108, 110, 112, 116, and 118 are manually adjustable. Specifically, the joints are manually rotated to position the arms 104 and 106 in a particular configuration, which positions the end effectors 114 and 120 in a particular position and orientation appropriate for a particular workpiece. Once the arms 104 and 106 are positioned in a particular configuration corresponding to the workpiece and operation to be performed, the joints 108, 110, 112, 116, and 118 are manually locked.

[0034] In one example, the system 100 can include a fluid subsystem 122 configured to provide pressurized fluid (eg, compressed air) to actuate the end effectors 114 and 120 to grip the workpiece.

[0035] As mentioned above, the joints 108, 110, 112, 116, and 118 are manually adjustable. Thus, for each different workpiece or "job," an operator manually adjusts the joints 108, 110, 112, 116, and 118 to place them in a particular configuration. This process can be tedious and time-consuming.

[0036] 1, the joints 108, 110, 112, 116, 118 and the tubes 111, 113, 119 are large and, therefore, the system 100 may occupy a large amount of space, which may be undesirable in some facilities. Therefore, it may be desirable to have a compact system that is electronically actuated to improve the performance and features of the workpiece transport system.

[0037] 2 shows a partial view of a system 200 according to an example implementation. The system 200 includes a rail 202 and multiple arms, such as arm 204, coupled to the rail 202. While only a portion of the rail 202 and one arm are shown in FIG. 2 to reduce visual clutter in the drawing, it should be understood that more arms may be attached to the rail 202.

[0038] The arm 204 may also be referred to as a tooling assembly. The arm 204 is coupled to the rail 202 and configured as an articulated arm having multiple arm linkages rotatably coupled to each other at respective joints. Once the arm 204 is positioned in a particular configuration corresponding to the workpiece and operation to be performed, the arm 204 is locked in place (e.g., the joints are locked and rotation is prevented).

[0039] 2, arm 204 may have six joints: joint 206, joint 208, joint 210, joint 212, joint 214, and joint 216. As described in more detail below, the joints may have respective tubes to couple the joints to one another. Additionally, tube 218 may be coupled to joint 216 (an end joint), and an end effector (e.g., a gripper, a suction cup, etc.) may be coupled to tube 218.

[0040] The joints 206-216 can be actuated via electric motors, as described below, to position the arm 204 in a particular configuration and place the end effector in a particular position and orientation. For example, six joints mimic the movement of a six-degree-of-freedom robotic manipulator. By sending command signals to each electric motor, the rotational positions of the joints 206-216 relative to one another can be automatically adjusted as desired via a controller. In this way, the system 200 can be adapted to different workpieces or "jobs" without manual human adjustment.

[0041] The system 200 may include a rail actuator (not shown) coupled to the rail 202. The system 200 is used to perform a transfer operation in which a workpiece is moved from a first workstation to a second workstation adjacent to the first workstation. After moving the workpiece to the second workstation, the system 200 returns to the first workstation to repeat the transfer operation with the next workpiece. For example, the first workstation may include a first machine that performs a first operation on the workpiece, and the second workstation may include a second machine that performs a second operation on the workpiece. During the transfer operation, the rail actuator moves the rail 202 and an arm 204 coupled to the rail 202. The arm 204 has an end effector that is attached to the workpiece, and the end effector moves with the rail 202 and the arm 204.

[0042] Arm 204 can be positioned in a number of desired configurations relative to rail 202 by actuating the electric motor. The desired configuration depends on the geometry and type of workpiece to be processed by system 200. In one example, multiple cycles of transfer operations are performed on a single type of workpiece, with each individual workpiece of a particular type having a predetermined geometry. When it is desired to use system 200 with different types of workpieces having different geometries, the configuration of some or all of the arms (e.g., arm 204) can be changed so that they are configured in a manner suitable for use with the different workpieces.

[0043] 2, joints 206-216 are compact compared to joints 108, 110, 112, 116, and 118 of system 100. In this configuration, joints 206-216 can rotate in tight space to position an end effector coupled to tube 218 anywhere within a spatial envelope 220, which is represented in FIG. 2 as a rectangular prism having a length "L" and a width "W."

[0044] 3 illustrates a partial side view of a joint 300 according to an example implementation. The joint 300 can be used, for example, as any of the joints of the arm 204 of the system 200.

[0045] As shown, joint 300 includes a tube 302, a clamp 304 perpendicular to tube 302, and an electric motor 306. Electric motor 306 is disposed along tube 302 and configured to rotate clamp 304, for example.

[0046] Clamp 304 may generally include any fastening device used to hold or secure an object (e.g., a tube or end effector). For example, clamp 304 may have a split ring 308 with a hole 310 in which the object (e.g., a tube or end effector) may be placed, and fasteners 312 tighten the grip of split ring 308 on the object so that the object rotates with clamp 304 when electric motor 306 is actuated.

[0047] If joint 300 is an intermediate joint (e.g., one of joints 208-214), a tube (similar to tube 302) of the next joint can be inserted into hole 310 in clamp 304 to couple the joints together. In this way, when electric motor 306 of joint 300 rotates, the entire subsequent joint rotates with it. Additionally, tube 302 of joint 300 can be inserted into the clamp of the preceding joint so that joint 300 rotates when the electric motor of the preceding joint is activated.

[0048] If joint 300 is a terminal joint (e.g., joint 216), the tubular member of the end effector can be inserted into clamp 304 to couple the end effector to joint 300 and move with the joint. The configuration of joint 300 is for illustrative purposes only. Other configurations can be used, as shown in Figures 4-5.

[0049] 4 illustrates a joint 400 according to an example implementation. Joint 400 is another example joint that may be used in system 200.

[0050] Similar to joint 300, joint 400 also includes a tube 402, a clamp 404, and an electric motor 406. However, instead of the electric motor 406 being aligned with the tube 402, the electric motor 406 is aligned with the clamp 404. Thus, the positions / orientations of the tube 402 and the clamp 404 can be switched relative to the configuration of joint 300.

[0051] 5 illustrates a joint 500 according to an example implementation. Joint 500 is another example joint that may be used in system 200.

[0052] Rather than having a tube and clamp as in joints 300 and 400, joint 500 has a first clamp 502 and a second clamp 504 that are perpendicular to each other, with their respective holes in planes perpendicular to each other (e.g., first clamp 502 has a different orientation relative to second clamp 504). Joint 500 has an electric motor 506 along with second clamp 504.

[0053] To couple joint 500 to another joint, a tube can be placed, for example, in second clamp 504, and also in each clamp of an adjacent joint, so that when electric motor 506 is activated, the adjacent joint rotates.

[0054] Therefore, joints of various configurations can be used. Joints 206-216 of system 200 are configured similarly to joint 400, as an example. In the following description, joint 400 is used as an example to illustrate the configuration of the present disclosure. However, it should be understood that the configuration is also applicable to joint 300 or joint 500.

[0055] 6 illustrates a perspective exploded view of an exemplary implementation of a joint 400. The joint 400 includes a motor mount 408 to which an electric motor 406 is attached, facilitating coupling of the electric motor 406 to a main housing 410 of the joint 400.

[0056] As shown, the motor mount 408 can have a central bore 412 through which the output shaft 414 of the electric motor 406 is disposed. The motor mount 408 is secured to the main housing 410 via fasteners such as fastener 415 (e.g., four fasteners) disposed through a hole in the motor mount 408 and respective holes in the main housing 410. As shown, the tube 402 is coupled to the main housing 410.

[0057] The joint 400 has a gear assembly 416 that includes a thrust cover 418, a first thrust bearing 420 (e.g., an upper thrust bearing), a gear 422, a second thrust bearing 424 (e.g., a lower thrust bearing), and a thrust ring cover 425. In this configuration, the gear 422 is interposed between the first thrust bearing 420 and the second thrust bearing 424. Additionally, the assembly of the gear 422, first thrust bearing 420, and second thrust bearing 424 is interposed between the thrust cover 418 and the thrust ring cover 425.

[0058] As shown, the clamp 404 has a clamp shaft 426 configured to be disposed through the main housing 410 so as to be coupled to both the output shaft 414 of the electric motor 406 and the gear 422 of the gear assembly 416. For example, the clamp shaft 426 can have an internal keyway, and a motor key 430 can be inserted partially into the internal keyway and partially into another keyway in the output shaft 414 of the electric motor 406 to rotatably couple the output shaft 414 to the clamp shaft 426. Similarly, the clamp shaft 426 can have an external keyway, and a gear key 431 can be inserted partially into the external keyway and into another keyway in the gear 422 to rotatably couple the gear 422 to the clamp shaft 426.

[0059] The joint 400 can have a radial bearing 432 disposed about the clamp shaft 426 and configured to allow the clamp shaft 426 (and the clamp 404 as a whole) to rotate relative to the main housing 410. Additionally, a retaining clip 434 can be used to retain the clamp 404 to the main housing 410.

[0060] Clamp 404 can have fastener 433 and washer 435. Fastener 433 can be placed through clamp 404 to tighten around an object, such as a tube (similar to tube 402) of an adjacent joint or any cylindrical object (e.g., a portion of an end effector).

[0061] The joint 400 further includes a locking module 436 configured to either lock the clamp shaft 426 in a predetermined position (e.g., a particular rotational position) or unlock the clamp shaft 426 to allow it to rotate via the electric motor 406. As described in more detail below, the locking module 436 can include a pneumatic actuation mechanism that uses pressurized fluid (e.g., air) to unlock the clamp shaft 426 and allow the electric motor 406 to rotate the clamp 404.

[0062] Lock module 436 includes a lock module housing 438 that is attached to main housing 410 via fasteners, such as fastener 439, that are disposed through through holes in main housing 410 and through holes in lock module housing 438. Joint 400 can include a pressure relief muffler 440 and a spring cap 442 attached to lock module housing 438.

[0063] The lock module housing 438 houses several components therein, including a locking spring 444 having a first end resting against a spring cap 442 and a second end resting against a piston 446, FIG. 6, to bias the piston 446 downward.

[0064] Specifically, joint 400 includes a central pawl 450, a first lateral pawl 452 disposed laterally on one side of central pawl 450, and a second lateral pawl 454 disposed laterally on the other side of central pawl 450. Joint 400 includes a central pawl spring 456 having a first end that rests against lock module housing 438 and a second end that rests against central pawl 450 to bias central pawl 450 toward gear 422.

[0065] Joint 400 also includes a side pawl spring 458 that is partially disposed within a channel formed in first side pawl 452 and rests against a ball 460. Similarly, joint 400 includes a side pawl spring 462 that is partially disposed within a channel formed in second side pawl 454 and rests against a ball 464. As described below, balls 460, 464 are disposed within grooves formed in gear 422, and side pawl springs 458, 462 bias their respective side pawls away from gear 422 unless locking wedge 448 urges the side pawls toward gear 422.

[0066] In one example, the piston 446 is pneumatically actuated. A fitting 466 can be coupled to the lock module housing 438 to provide pressurized fluid to the fitting 466. The lock module housing 438 acts as a manifold with internal fluid passages configured to deliver pressurized fluid to the piston 446, causing it to move. When the fluid supply is stopped, a bleed-off fitting 468 attached to the lock module housing 438 vents the fluid, allowing the lock spring 444 to return the piston 446 to its inactive position, thereby engaging the side pawls 452, 454 with the gear 422 and preventing it from rotating, as described in more detail below.

[0067] The joint 400 can have a piston seal 449 disposed around the stem of the piston 446 to prevent fluid leakage around the piston 446. Additionally, the locking wedge 448 can have a tapered surface 470 that interacts with the tapered surfaces of the first and second side pawls 452, 454, respectively, to move them toward or away from the gear 422 to lock and unlock the gear 422.

[0068] 7 shows a partially exploded perspective view of gear assembly 416 according to an exemplary implementation. As shown, gear 422 is configured as a wheel having a central groove 472 with teeth 473 disposed around its outer surface. Central groove 472 receives balls 460, 464 therein, allowing side pawl spring 458 to urge first side pawl 452 away from gear 422 and side pawl spring 462 to urge second side pawl 454 away from gear 422.

[0069] In one example, the first side pawl 452 is configured as a curved bar or block having teeth 474 configured to engage with teeth 473 of the gear 422 to prevent the gear 422 from rotating when the piston 446 moves downward and the locking wedge 448 pushes the first side pawl 452 toward the gear 422. Similarly, the second side pawl 454 is configured as a curved bar or block having teeth 476 configured to engage with teeth 473 of the gear 422 to prevent the gear 422 from rotating when the piston 446 moves downward and the locking wedge 448 pushes the second side pawl 454 toward the gear 422. As shown, in this configuration, the direction of movement of the side pawls 452, 454 (in the same plane as the gear 422) is perpendicular to the direction of movement of the piston 446 (e.g., parallel to the axis of the output shaft 414 of the electric motor 406).

[0070] Central pawl 450 also has teeth 478 that engage teeth 473 on gear 422. However, central pawl 450 is not configured to lock gear 422. Rather, as gear 422 rotates, central pawl 450 springs away from and toward gear 422 via central pawl spring 456. The pitch of teeth 478 on central pawl 450 and teeth 473 on gear 422 determines the increments that gear 422 can rotate. As an example, the pitch can be approximately 1.5 degrees. In this example, gear 422 can rotate in 1.5-degree increments when electric motor 406 is activated and piston 446 is actuated to the unlocked position.

[0071] Figure 8 shows a transparent perspective view of lock module 436, Figure 9 shows a perspective cross-sectional view of lock module 436, and Figure 10 shows a cross-sectional side view of lock module 436 according to an exemplary implementation. Figures 8-10 are described together.

[0072] Fluid (e.g., air or gas) is provided through fitting 466 (e.g., from a gas source such as a compressor) to lock module housing 438, which, as described above, is configured as a manifold having internal fluid passages, such as fluid passage 600 and fluid passage 602 shown in Figures 9-10. The fluid is then provided to piston chamber 604 in which piston 446 is disposed.

[0073] The piston 446 has a piston head or piston cap 606, and fluid within the piston chamber 604 exerts a fluid force on the locking spring 444 in an upward direction relative to FIGS. 9-10. When the fluid force is sufficient to overcome the locking spring 444, the piston 446 moves upward, disengaging the locking wedge 448 from the first lateral pawl 452 and the second lateral pawl 454. This allows the lateral pawl spring 458 to push the first lateral pawl 452 away from the gear 422, disengaging it from the gear 422, and the lateral pawl spring 462 to push the second lateral pawl 454 away from the gear 422, disengaging it from the gear 422. Once both lateral pawls 452, 454 are disengaged from the gear 422, the gear 422 is free to rotate with the electric motor 406. When the pressure level in the piston chamber 604 exceeds a threshold, the fluid is released to the environment through the pressure relief muffler 440 .

[0074] Fluid flow to the lock module 436 is stopped to reengage the side pawls 452, 454 with the gear 422 and lock them in place. Pressurized fluid within the lock module housing 438 (e.g., within the piston chamber 604 and fluid passages 600, 602) is allowed to bleed off (e.g., to the environment) through the bleed-off fitting 468. When the fluid is vented to the environment, the pressure level within the piston chamber 604 decreases, causing the lock spring 444 to push the piston 446 downward. The lock wedge 448, particularly its tapered surface 470, engages the side pawls 452, 454, thereby forcing the side pawls 453, 454 toward the gear 422, engaging and locking the gear in place. Specifically, the teeth 474 of the first side pawl 452 and the teeth 476 of the second side pawl 454 engage the teeth 473 of the gear 422.

[0075] FIG. 11 shows a partial perspective view of joint 400, and FIG. 12 shows a partial top view of joint 400, according to an example implementation. In FIGS. 11-12, central pawl 450 and side pawls 452, 454 are transparent to show their respective pawl springs. Gear 422 is also transparent. As shown, locking wedge 448 can have an arch 480 that allows central pawl spring 456 to pass through when locking wedge 448 moves downward to move side pawls 452, 454 toward gear 422.

[0076] 11-12 show the first side pawl 452 in an engaged position, where teeth 474 of the first side pawl engage teeth 473 of gear 422 to lock it in place, while the second side pawl 454 is shown in a disengaged position, where teeth 476 are disengaged from gear 422. This is for illustrative purposes only. It should be understood that the side pawls 452, 454 either engage or disengage the gear 422 together.

[0077] 6 and 11-12 together, as described above, the output shaft 414 of the electric motor 406 engages with the clamp shaft 426 and rotates it via the motor key 430. The clamp shaft 426 can then rotate the gear 422 via the gear key 431.

[0078] When the side pawls 452, 454 are in the engaged position, and the piston 446 moves downward in this position, causing the locking wedge 448 to push the side pawls 452, 454 inward toward and engage the gear 422, the gear 422 is locked in place. Specifically, if the gear 422 were to rotate in a first rotational direction (clockwise in FIGS. 11-12), the gear would have to move the first side pawl 452 that engages it, but the first side pawl 452 is restrained from moving by wedging into the interior side of the main housing 410. Similarly, if gear 422 were to attempt to rotate in a second rotational direction opposite the first rotational direction (counterclockwise in FIGS. 11-12), the gear would have to move its engaging second lateral pawl 454, which is restrained from moving by wedging into the interior side of main housing 410. Thus, gear 422 remains locked in place and clamp shaft 426 cannot rotate (i.e., clamp 404 is locked in place).

[0079] 8-10 , if pressurized fluid is provided to lock module housing 438, piston 446 is actuated (e.g., moved upward), thereby disengaging lock wedge 448 from side pawls 452, 454. Side pawl springs 458, 462 then urge their respective side pawls outwardly, away from gear 422, thereby disengaging it from gear 422. Gear 422 slides against balls 460, 464 disposed within central groove 472.

[0080] In this state, the gear 422 is free to rotate, thereby allowing the electric motor 406 to rotate the clamp shaft 426.

[0081] In one example, the central pawl 450 is keyed to the main housing 410. For example, the central pawl 450 can have a bottom protrusion that is positioned within a channel formed in the main housing 410 such that the central pawl 450 can only move outward and inward, but is restrained from moving laterally or sideways. As the gear 422 rotates, the central pawl 450 springs outward against the central pawl spring 456 and is springed inward by the central pawl spring 456.

[0082] Thus, even though the teeth 478 of the central pawl 450 engage the teeth 473 of the gear 422, the central pawl 450 springs outward as the gear 422 rotates, allowing the gear 422 to rotate. As described above, the gear 422 can move incrementally. The rotational increment of the gear 422, and therefore the rotational increment of the clamp 404, is determined by the pitch of the teeth 478 of the central pawl 450 and the teeth 473 of the gear 422.

[0083] In particular, if any failure in the system causes the power or fluid supply to be cut off, the joint 400 defaults to a locked position. Specifically, when the fluid supply is cut off, the fluid is expelled and the piston 446 moves downward to the locked position, pressing the lateral pawls 452, 454 against the gear 422 and locking it in place.

[0084] 13 is a flowchart of a method 1300 for manipulating a joint according to an example implementation. Method 1300 can be used, for example, to manipulate joints 300, 400, or 500. Method 1300 may include one or more operations, functions, or actions, as indicated by one or more of blocks 1302-1306.

[0085] While the blocks are illustrated in sequential order, these blocks may also be performed in parallel and / or in a different order than described herein. Also, various blocks may be combined into fewer blocks, divided into additional blocks, and / or eliminated based on the desired implementation. For this and other processes and methods disclosed herein, it should be understood that the flowcharts illustrate the functionality and operation of one possible implementation of the examples. As will be appreciated by those skilled in the art, alternative implementations in which functionality may be performed in a different order than that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, are included within the scope of the examples of the present disclosure.

[0086] At block 1302, the method 1300 includes providing fluid to a locking module (e.g., locking module 436) of a joint (e.g., joint 400), thereby moving a piston (e.g., piston 446) of the locking module to an actuated position (e.g., upward in Figures 9-12) to enable at least one pawl (e.g., lateral pawl 452, 454) to disengage from a gear (e.g., gear 422) of the joint.

[0087] At block 1304, the method 1300 includes sending a command signal to an electric motor (e.g., electric motor 406) of a joint, the electric motor having an output shaft (e.g., output shaft 414), the joint having a clamp (e.g., clamp 404) having a clamp shaft (e.g., clamp shaft 426) rotatably coupled to the output shaft of the electric motor, and a gear rotatably coupled to the clamp shaft such that the command signal rotates the output shaft, the clamp shaft, and the gear.

[0088] At block 1306, the method 1300 bleeds fluid from the lock module (e.g., via bleed-off fitting 468) to cause the lock spring (e.g., lock spring 444) to return the piston to a non-actuated position (e.g., downward in FIGS. 9-12), thereby causing the piston to move at least one pawl toward the gear and engage the at least one pawl with the gear to lock it in place and prevent the clamp shaft from rotating.

[0089] The method 1300 may further include other steps as described herein.

[0090] The above detailed description, with reference to the accompanying drawings, describes the various functions and operations of the disclosed system. The exemplary implementations described herein are not intended to be limiting. Certain aspects of the disclosed system can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein.

[0091] Additionally, unless the context indicates otherwise, the features shown in each of the figures may be used in combination with one another. Thus, the figures should generally be viewed as component aspects of one or more overall implementations, and it should be understood that not all of the features shown are required for each implementation.

[0092] Additionally, any listing of elements, blocks, or steps in the specification or claims is for the sake of clarity and, therefore, such listing should not be construed as requiring or implying that these elements, blocks, or steps follow a particular arrangement or be performed in a particular order.

[0093] Furthermore, a device or system may be used or configured to perform the functions presented in the figures. In some instances, device and / or system components may be configured to perform the functions such that the components are actually configured and structured (using hardware and / or software) to enable such performance. In other examples, device and / or system components may be adapted to perform a function, capable of performing a function, or suitably arranged to perform a function, e.g., when operated in a particular manner.

[0094] The term "substantially" or "about" means that the recited characteristic, parameter, or value need not be achieved exactly, but rather that deviations or variations, including, for example, tolerances, measurement errors, limitations in measurement accuracy, and other factors known to those skilled in the art, may occur in an amount that does not eliminate the effect that the characteristic is intended to provide.

[0095] The arrangements described herein are for illustrative purposes only. Thus, those skilled in the art will recognize that other configurations and other elements (e.g., machines, interfaces, operations, sequences, and groupings of operations) may be substituted, and that some elements may be omitted entirely depending on the desired results. Furthermore, many of the described elements are functional entities that may be implemented as separate or distributed components or with other components, in any suitable combination and location.

[0096] While various aspects and implementations have been disclosed herein, other aspects and implementations will be apparent to those skilled in the art. The various aspects and implementations disclosed herein are for purposes of illustration and are not intended to be limiting, the true scope being indicated by the following claims, along with the full scope of equivalents to which such claims are entitled. Also, the terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting.

[0097] Accordingly, implementations of the present disclosure may relate to one of the enumerated exemplary embodiments (EEE) listed below.

[0098] EEE1 is a joint of an arm of a workpiece transfer system, the joint including an electric motor having an output shaft, a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, a gear rotatably coupled to the clamp shaft, a locking module including a piston and a locking spring that applies a biasing force to the piston, and at least one pawl movable by the piston, wherein (i) when the piston is actuated, the piston moves against the locking spring to allow the at least one pawl to move away from the gear and to allow the gear and clamp shaft to rotate with the output shaft of the electric motor, and (ii) when the piston is not actuated, the locking spring biases the piston to move the at least one pawl toward and engage the gear to lock it in place, thereby preventing the clamp shaft from rotating.

[0099] EEE2 is a joint of EEE1, wherein the locking module further includes a locking wedge coupled to the piston, the at least one pawl being movable by the locking wedge, and (i) when the piston is actuated, the piston disengages the locking wedge from the at least one pawl to allow the at least one pawl to move away from the gear, and (ii) when the piston is not actuated, the locking spring biases the piston and the locking wedge toward the at least one pawl to move the at least one pawl toward the gear.

[0100] EEE3 is the joint of EEE2, wherein the locking wedge includes a tapered surface and the at least one pawl includes a respective tapered surface, and when the locking wedge moves toward the at least one pawl, the tapered surface of the locking wedge engages with the respective tapered surface of the at least one pawl to move the at least one pawl in a direction perpendicular to the direction of movement of the piston and the locking wedge.

[0101] EEE4 is any of joints EEE1-3, and at least one pawl includes a first lateral pawl configured to allow or prevent rotation of the gear in a first rotational direction, and a second lateral pawl configured to allow or prevent rotation of the gear in a second rotational direction opposite the first rotational direction.

[0102] EEE5 is the joint of EEE4, further including a central pawl disposed between the first and second lateral pawls, and a central pawl spring that biases the central pawl toward the gear such that when the piston is actuated to disengage the first and second lateral pawls from the gear, the central pawl is configured to spring away from and toward the gear as the gear rotates.

[0103] EEE6 is any one of the joints EEE1 to EEE5, further including a pawl spring biasing the at least one pawl away from the gear, wherein when the piston is not actuated, the piston moves the at least one pawl against the pawl spring toward the gear, and when the piston is actuated, the pawl spring moves the at least one pawl away from the gear.

[0104] EEE7 is the joint of EEE6, wherein the gear includes a central groove, the joint further includes a ball disposed in the central groove, and the pawl spring is supported by the ball.

[0105] EEE8 is any of joints EEE1-7, wherein the locking module includes a locking module housing including one or more internal fluid passages and a piston chamber in which a piston is disposed, and to actuate the piston, fluid is provided to the locking module housing and flows through the one or more internal fluid passages of the locking module housing to the piston chamber to move the piston in the piston chamber against a locking spring to an actuated position.

[0106] EEE9 is a joint of EEE8 and further includes a bleed-off fitting attached to the lock module housing and configured to release fluid into the environment of the lock module housing to allow the lock spring to bias the piston to the inactivated position.

[0107] EEE10 is any one of the joints EEE1 to EEE9, and the gear is interposed between the first thrust bearing and the second thrust bearing.

[0108] EEE11 is a joint of any of EEE1 to EEE10, further including a tube perpendicular to the clamp.

[0109] EEE12 is a joint of any of EEE1 to EEE11, the clamp is a first clamp, and the joint further includes a second clamp perpendicular to the first clamp.

[0110] EEE13 is a system including a transfer rail and a plurality of arms coupled to the transfer rail, each arm including a plurality of joints, a joint of the plurality of joints including an electric motor having an output shaft, a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, a gear rotatably coupled to the clamp shaft, a locking module including a piston and a locking spring that applies a biasing force to the piston, and at least one pawl movable by the piston, wherein (i) when the piston is actuated, the piston moves against the locking spring to allow the at least one pawl to move away from the gear and to allow the gear and clamp shaft to rotate with the output shaft of the electric motor, and (ii) when the piston is not actuated, the locking spring biases the piston to move the at least one pawl toward and engage the gear to lock it in place, thereby preventing the clamp shaft from rotating.

[0111] EEE14 is the system of EEE13, wherein the joint further includes a tube perpendicular to the clamp, the tube configured to be clamped by each clamp of an adjacent joint of the arm.

[0112] EEE15 is any of the systems of EEE13-14, wherein the locking module further includes a locking wedge coupled to the piston, the at least one pawl being movable by the locking wedge, and wherein (i) when the piston is actuated, the piston disengages the locking wedge from the at least one pawl to allow the at least one pawl to move away from the gear, and (ii) when the piston is not actuated, the locking spring biases the piston and the locking wedge toward the at least one pawl to move the at least one pawl toward the gear.

[0113] EEE16 is any of the systems EEE13-15, wherein the at least one pawl includes a first lateral pawl configured to allow or prevent rotation of the gear in a first rotational direction, and a second lateral pawl configured to allow or prevent rotation of the gear in a second rotational direction opposite the first rotational direction.

[0114] EEE17 is the system of EEE16, wherein the joint further includes a central pawl disposed between the first and second lateral pawls, and a central pawl spring that biases the central pawl toward the gear such that when the piston is actuated to disengage the first and second lateral pawls from the gear, the central pawl is configured to spring away from and toward the gear as the gear rotates.

[0115] EEE18 is any of the systems of EEE13 to 17, wherein a pawl spring biases the at least one pawl away from the gear, and when the piston is not actuated, the piston moves the at least one pawl against the pawl spring toward the gear, and when the piston is actuated, the pawl spring moves the at least one pawl away from the gear.

[0116] EEE19 is the system of any of EEE13 to 18, wherein the lock module includes: a lock module housing including one or more internal fluid passages and a piston chamber in which a piston is disposed, wherein to actuate the piston, fluid is provided to the lock module housing and flows through the one or more internal fluid passages of the lock module housing to the piston chamber to move the piston in the piston chamber against a lock spring to an actuated position; and a bleed-off fitting attached to the lock module housing and configured to release fluid to an environment of the lock module housing to allow the lock spring to bias the piston to a non-actuated position.

[0117] EEE20 is a method of providing fluid to a locking module of a joint, thereby moving a piston of the locking module to an actuated position to enable at least one pawl to disengage from a gear of the joint; sending a command signal to an electric motor of the joint, the electric motor having an output shaft, the joint having a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, the gear being rotatably coupled to the clamp shaft such that the command signal rotates the output shaft, the clamp shaft, and the gear; and releasing fluid from the locking module to cause a locking spring to return the piston to a non-actuated position, thereby causing the piston to move at least one pawl toward and engage the gear to lock it in place and prevent the clamp shaft from rotating.

Claims

1. 1. A joint of an arm of a workpiece transport system, comprising: an electric motor having an output shaft; a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor; a gear rotatably coupled to the clamp shaft; a lock module including a piston and a lock spring that applies a biasing force to the piston; at least one pawl movable by the piston; (i) when the piston is actuated, the piston moves against the locking spring, allowing the at least one pawl to move away from the gear and allowing the gear and the clamp shaft to rotate with the output shaft of the electric motor; and (ii) when the piston is not actuated, the locking spring biases the piston to move the at least one pawl toward and engage the gear, locking it in place and thereby preventing the clamp shaft from rotating. joint.

2. 2. The joint of claim 1, wherein the locking module further includes a locking wedge coupled to the piston, the at least one pawl being movable by the locking wedge, and wherein (i) when the piston is actuated, the piston disengages the locking wedge from the at least one pawl to allow the at least one pawl to move away from the gear, and (ii) when the piston is not actuated, the locking spring biases the piston and the locking wedge toward the at least one pawl to move the at least one pawl toward the gear.

3. 3. The joint of claim 2, wherein the locking wedge includes a tapered surface and the at least one pawl includes a respective tapered surface, and when the locking wedge moves toward the at least one pawl, the tapered surface of the locking wedge engages the respective tapered surface of the at least one pawl to move the at least one pawl in a direction perpendicular to a direction of movement of the piston and the locking wedge.

4. The at least one claw a first side pawl configured to permit or prevent rotation of the gear in a first rotational direction; a second lateral pawl configured to permit or prevent rotation of the gear in a second rotational direction opposite the first rotational direction; 2. The joint of claim 1.

5. a central claw disposed between the first and second lateral claws; a central pawl spring that biases the central pawl toward the gear such that when the piston is actuated to disengage the first and second side pawls from the gear, the central pawl is configured to spring away from and toward the gear as the gear rotates.

5. The joint of claim 4.

6. 2. The joint of claim 1, further comprising a pawl spring biasing the at least one pawl away from the gear, wherein when the piston is not actuated, the piston moves the at least one pawl against the pawl spring toward the gear, and when the piston is actuated, the pawl spring moves the at least one pawl away from the gear.

7. the gear includes a central groove; The joint of claim 6 , further comprising a ball disposed in the central groove, the pawl spring bearing against the ball.

8. The lock module includes: a lock module housing including one or more internal fluid passages and a piston chamber in which the piston is disposed; To actuate the piston, fluid is provided to the lock module housing and flows through the one or more internal fluid passages of the lock module housing to the piston chamber, moving the piston within the piston chamber against the lock spring to an actuated position.

2. The joint of claim 1.

9. 9. The joint of claim 8, further comprising a bleed-off fitting attached to the locking module housing and configured to release fluid into an environment of the locking module housing to allow the locking spring to bias the piston to a non-actuated position.

10. The joint of claim 1 , wherein the gear is interposed between a first thrust bearing and a second thrust bearing.

11. The joint of claim 1 further comprising a tube perpendicular to the clamp.

12. the clamp is a first clamp; the joint further includes a second clamp perpendicular to the first clamp; 2. The joint of claim 1.

13. A transfer rail; a plurality of arms coupled to the transfer rail; 1. A system comprising: Each arm includes a plurality of joints, the joints of the plurality of joints being: an electric motor having an output shaft; a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor; a gear rotatably coupled to the clamp shaft; a lock module including a piston and a lock spring that applies a biasing force to the piston; at least one pawl movable by the piston; (i) when the piston is actuated, the piston moves against the locking spring, allowing the at least one pawl to move away from the gear and allowing the gear and the clamp shaft to rotate with the output shaft of the electric motor; and (ii) when the piston is not actuated, the locking spring biases the piston to move the at least one pawl toward and engage the gear, locking it in place and thereby preventing the clamp shaft from rotating. system.

14. The system of claim 13 , further comprising a tube perpendicular to the clamp, the tube configured to be clamped by each clamp of an adjacent joint of the arm.

15. The locking module further includes a locking wedge coupled to the piston, the at least one pawl being movable by the locking wedge, and (i) when the piston is actuated, the piston disengages the locking wedge from the at least one pawl, allowing the at least one pawl to move away from the gear, and (ii) when the piston is not actuated, the locking spring biases the piston and the locking wedge toward the at least one pawl, causing the at least one pawl to move toward the gear. The system of claim 13.

16. The at least one claw a first side pawl configured to permit or prevent rotation of the gear in a first rotational direction; a second lateral pawl configured to permit or prevent rotation of the gear in a second rotational direction opposite the first rotational direction; The system of claim 13.

17. a central claw disposed between the first and second lateral claws; a central pawl spring that biases the central pawl toward the gear such that when the piston is actuated to disengage the first and second side pawls from the gear, the central pawl is configured to spring away from and toward the gear as the gear rotates.

17. The system of claim 16.

18. 14. The system of claim 13, wherein a pawl spring biases the at least one pawl away from the gear, the piston moving the at least one pawl against the pawl spring toward the gear when the piston is not actuated, and the pawl spring moving the at least one pawl away from the gear when the piston is actuated.

19. The lock module includes: a lock module housing including one or more internal fluid passages and a piston chamber in which the piston is disposed, wherein to actuate the piston, fluid is provided to the lock module housing and flows through the one or more internal fluid passages of the lock module housing to the piston chamber to move the piston within the piston chamber against the lock spring to an actuated position; a bleed-off fitting attached to the lock module housing and configured to release fluid into an environment of the lock module housing to allow the lock spring to bias the piston to a non-actuated position. The system of claim 13.

20. providing fluid to a locking module of the joint, thereby moving a piston of said locking module to an actuated position to enable at least one pawl to disengage from a gear of said joint; sending a command signal to an electric motor of the joint, the electric motor having an output shaft, the joint having a clamp having a clamp shaft rotatably coupled to the output shaft of the electric motor, the gear rotatably coupled to the clamp shaft such that the command signal rotates the output shaft, the clamp shaft, and the gear; releasing fluid from the locking module to cause a locking spring to return the piston to a non-actuated position, thereby causing the piston to move the at least one pawl toward and engage the gear, locking the gear in place and preventing the clamp shaft from rotating. method.

Images