Quick-change system and method for mounting a robotic arm

Abstract

A quick-change system for mounting a robotic arm to a base and corresponding method are provided. The system includes a base portion to be coupled to the base and an arm portion to be coupled to the arm. The base portion includes a base top including a perimeter portion and a hook extending radially inward from the perimeter portion. The arm portion includes a disc and a leg extending axially outward from a surface of the disc. The leg is to engage the hook of the base portion when the disc is placed on the perimeter portion of the base portion and rotated to couple together the base portion and the arm portion.

Description

QUICK-CHANGE SYSTEM AND METHOD FOR MOUNTING A ROBOTIC ARMRELATED APPLICATIONS

[0001] This application claims priority under 35 U.S.C. § 119 to United States Provisional Patent Application No. 63 / 557,369 filed on February 23, 2024, the entire contents of which is incorporated herein by reference.STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH

[0002] This invention was made with government support under grant no. 90DPGE0018 awarded by the National Institute on Disability, Independent Living, and Rehabilitation Research (NIDILRR). The government has certain rights in the invention.BACKGROUND

[0003] Robotic arms are used in many applications. In some applications, robotic arms are made portable to be used across multiple workstations. In such applications, change systems may be used in place of standard mounting configurations to enable quicker transfer between workstations.SUMMARY

[0004] Some embodiments provide a quick-change system for mounting a robotic arm to a base. The system includes a base portion to be coupled to the base and an arm portion to be coupled to the robotic arm. The base portion includes a base top with a perimeter portion and a hook extending radially inward from the perimeter portion. The arm portion includes a disc and a leg extending axially outward from a surface of the disc. The leg is to engage the hook of the base portion when the disc is placed on the perimeter portion of the base portion and rotated to couple together the base portion and the arm portion.

[0005] Some embodiments provide a method for mounting a robotic arm to a base using a quick-change system. The method includes coupling a base portion to the base, where the base portion includes a base top with a perimeter portion and a hook extending radially inward from the perimeter portion. The method also includes coupling an arm portion to the robotic arm, where the arm portion includes a disc and a leg extending axially outward from a surface of the disc. The method further includes placing the disc of the arm portion on the perimeterportion of the base portion, and rotating the arm portion relative to the base portion in a first direction to cause the leg of the arm portion to engage the hook of the base portion.

[0006] Some embodiments provide a quick-change system for mounting a robotic arm to a base. The system includes a base portion to be coupled to the base and an arm portion to be coupled to the robotic arm. The base portion includes a base top with a perimeter portion and a hook. The hook includes a radial portion extending radially inward from the perimeter portion and an axial hook portion extending axially from an end of the radial portion to create an open space between the axial hook portion and the perimeter portion. The arm portion includes a disc and a leg. The leg includes an axial leg portion extending axially outward from a surface of the disc and a lateral portion extending laterally outward from an end of the axial leg portion, where the lateral portion is sized to be received within the open space of the base portion when the arm portion is rotated relative to the base portion.DESCRIPTION OF THE DRAWINGS

[0007] FIG. 1 is an isometric view of a quick-change system for mounting a robotic arm, according to some embodiments.

[0008] FIG. 2 is a perspective view of a quick-change system, according to some embodiments, securing a robotic arm to a base.

[0009] FIG. 3 is a topside exploded view of the quick-change system of FIG. 1.

[0010] FIG. 4 is an underside exploded view of the quick-change system of FIG. 1.

[0011] FIG. 5 is a topside isometric view of a base top of a base portion of the quick-change system of FIG. 1.

[0012] FIG. 6 is an underside isometric view of the base top of FIG. 5.

[0013] FIG. 7 is a cross-sectional view of the base top of FIG. 5.

[0014] FIG. 8 is a topside isometric view of a base plate of a base portion of the quick- change system of FIG. 1.

[0015] FIG. 9 is an underside isometric view of the base plate of FIG. 8.

[0016] FIG. 10 is a topside isometric view of a top plate of an arm portion of the quick- change system of FIG. 1.

[0017] FIG. 11 is an underside isometric view of the top plate of FIG. 10.

[0018] FIG. 12 is a topside isometric view of a disc of an arm portion of the quick-change system of FIG. 1.

[0019] FIG. 13 is an underside isometric view of the disc of FIG. 12.

[0020] FIG. 14 is a partial side view of the disc of FIG. 12.

[0021] FIG. 15 is an underside view of the disc of FIG. 12.

[0022] FIG. 16 is a cross-sectional view of an assembled base plate, base top, and disc of the quick-change system of FIG. 1.

[0023] FIG. 17 is a flow chart of a method for coupling a robotic arm to a base using a quick-change system according to some embodiments.

[0024] FIG. 18 is a perspective view of an assembled base portion of the quick-change system of FIG. 2.

[0025] FIG. 19 is a perspective view of an assembled arm portion of the quick-change system of FIG. 2.DETAILED DESCRIPTION

[0026] Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirectmountings, connections, supports, and couplings. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings.

[0027] The following discussion is presented to enable a person skilled in the art to make and use embodiments of the invention. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the generic principles herein can be applied to other embodiments and applications without departing from embodiments of the invention. Thus, embodiments of the invention are not intended to be limited to embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description is to be read with reference to the figures, in which like elements in different figures have like reference numerals. The figures, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of embodiments of the invention. Skilled artisans will recognize the examples provided herein have many useful alternatives and fall within the scope of embodiments of the invention.

[0028] Robotic arms have uses across multiple industries, including commercial, industrial, research, manufacturing, and home applications, and may operate isolated from human contact or work in collaboration with users. In some applications, it may be beneficial to allow robotic arms to be transferred to and operated at different locations or workstations. Accordingly, some embodiments provide a quick-change system and method for mounting robotic arms to base platforms. The system can help minimize the time required for a robotic arm mounting and unmounting procedure, thus addressing the demand for swift reconfiguration in robotic applications. The system’s ability to adapt to various robot configurations also allows for its utility expansion to robotic arms from various manufacturers and of various sizes. Furthermore, the structural design of the system can efficiently endure significant torque applied by robotic arms, providing a secure and dependable system. Additionally, the present design can ensure repeatability in the mounting procedure to account for possible misalignments, particularly when handling situations involving maximum payload conditions. In some embodiments, utilizing lightweight aluminum components helps attain a balanced equilibrium between structural integrity and weight considerations.

[0029] Accordingly, FIGS. 1 and 2 illustrate a quick-change system 10, according to some embodiments, for mounting a robotic arm 12 to a base 14. For example, in contrast to mounting the robotic arm 12 directly to the base 14, the system 10 serves as an intermediate connection between the robotic arm 12 and the base 14, permitting quick and easy deployment andremoval. As such, generally, the system 10 can include a base portion 16 to be coupled to the base 14 and an arm portion 18 to be coupled to the robotic arm 12. The base portion 16 and the arm portion 18 can be coupled together by placing the arm portion 18 over the base portion 16 and rotating the components so that internal features of the components are engaged and locked together, as further described below. When the arm portion 18 and the base portion 16 are coupled together, the system 10 defines a routing hole 20 therethrough, e.g., through which cabling (not shown) may be routed. Additionally, while the base 14 illustrated in FIG. 2 is shown as part of a wheelchair, the system 10 may be used with any type of base 14, such as platforms, tables, walls, ceilings, flooring, etc.

[0030] With reference to the base portion 16 of the system 10, in some examples, as shown in FIGS. 1-4, the base portion 16 can include a base top 22 and a base plate 24. Generally, the base top 22 can be configured to engage with the arm portion 18 and the base plate 24 can be coupled to a base 14. More specifically, the base top 22 can include a first or upper lateral surface 26 configured to engage with the arm portion 18 and a second or lower lateral surface 28 configured to engage with the base plate 24, and the base plate 24 can include a first or upper lateral surface 30 configured to engage with the lower lateral surface 28 of the base top 22 and a second or lower lateral surface 32 configured to engage with the base 14.

[0031] Furthermore, as best shown in FIGS. 5-7, the base top 22 can include a perimeter portion 34, generally in the form of an open cylinder, and a hook 36 extending radially inward from the perimeter portion 34. In one example, as illustrated, the base portion 16 can include four hooks 36 evenly spaced apart and extending radially inward from the perimeter portion 34. However, in other examples, the base portion 16 can include two, three, five, or more hooks 36. Furthermore, the perimeter portion 34 can include a hole 38 defined radially therethrough and positioned adjacent to a corresponding hook 36. Accordingly, in the example shown, the perimeter portion 34 can include four hooks 36 and four corresponding holes 38. A fastener 82 (shown in FIGS. 2 and 18) can be inserted through each hole 38, as further described below.

[0032] Referring still to FIGS. 5-7, in some embodiments, the hooks 36 can extend radially inward from the perimeter portion 34, e.g., along the upper lateral surface 26, then turn downward, forming an “L-shape.” More specifically, the hook 36 can include a radial portion 40 extending radially inward from the perimeter portion 34, and an axial portion 42 extending axially from an end of the radial portion 40, such that a bottom 44 of the hook 36 lies flush with the lower lateral surface 28, as best shown in FIG. 7. The hook 36 thus defines an openspace 46 between the axial portion 42 and the perimeter portion 34. Furthermore, as shown in FIGS. 5 and 7, the perimeter portion 34 can include an inner lip 48 such that an inner diameter of the perimeter portion 34 adjacent the upper lateral surface 26 is larger than an inner diameter of the perimeter portion 34 adjacent the lower lateral surface 28. Additionally, referring to FIG. 6, a plurality of holes 50 may extend into the lower lateral surface 28 of the base top 22. In one example, the base top 22 can include twenty-four holes 50: sixteen holes 50 can be spaced apart along the perimeter portion 34 (e.g., in sets of four holes 50 between adjacent hooks 36) and the bottom 44 of each hook 36 can include two holes 50. However, other numbers of holes 50 and / or spacing may be used in some embodiments. These holes 50 can be used for coupling together the base top 22 and the base plate 24.

[0033] For example, referring now to FIGS. 1, 3, 4, 8, and 9, as noted above, the base plate 24 can be coupled to the base top 22 and can be further coupled to the base 14 via fasteners (not shown). As best shown in FIGS. 8 and 9, the base plate 24 can include two sets of holes 52, 54 extending therethrough. A first set of holes 52 extending through the base plate 24 can align with corresponding holes 50 extending into the perimeter portion 34 and / or the hooks 36 of the base top 22, as shown in FIG. 6. As such, fasteners (not shown) can be inserted through the first set of holes 52 of the base plate 24 and the corresponding holes 50 of the base top 22 to couple the components together. In some embodiments, the holes 50, 52 can include internal threading so that screws may be used as fasteners to couple the components together, though other fasteners may be contemplated in some embodiments. Furthermore, in some embodiments, as shown in FIG. 9, the first set of holes 50 can include a larger diameter at the lower lateral surface 32 of the base plate 24 to accommodate screw heads, thus allowing the screw heads to lie flush with the lower lateral surface 32 of the base plate 24 when screwed into the holes 50, 52. As a result, the base plate 24 can lie flush against the base 14 when the components are coupled together, as further described below. In some embodiments, the first set of holes 52 can include 24 holes: four holes 52 to be aligned with holes 50 in the perimeter portion 34 adjacent each hook 36 and two holes 52 to be aligned with holes 50 in the bottom 44 of each hook 36.

[0034] The base plate 24 can further include a second set of holes 54 that can be used to couple the base plate 24 and, more generally, the base portion 16 to a base 14. For example, as noted above, a base 14 may be a work bench or table base, a wheelchair base (as shown in FIG. 2), floor, ceiling, wall, or other workplace bases for any application in which a robotic arm 12may be used. Once the base plate 24 and the base top 22 are coupled together to form the base portion 16, the base portion 16 can be coupled to the base 14 by inserting fasteners (not shown) through the second set of holes 54 and into the base 14. In some embodiments, such fasteners can be counter bore screws or URT screws, though other fasteners may be contemplated in some embodiments. Additionally, in some embodiments, the second set of holes 54 can include eight holes and, more specifically, four sets of two holes spaced apart radially around the base plate 24. However, other numbers and / or spacing of holes 54 can be used in some embodiments.

[0035] In some embodiments, the base top 22 and the base plate 24 may be integrally formed as a single, integral base portion 16. However, in other embodiments, the base top 22 and the base plate 24 may be separable, e.g., removably coupled together, as shown and described above, to enable swapping of different types of base tops 22 and base plates 24. For example, in some embodiments, the base plate 24 may accommodate different types of base tops 22, e.g., including more or less hooks 36 than what is shown and described above. As such, in some embodiments, the base plate 24 may also include additional holes 52 to accommodate different types of base tops 22.

[0036] Referring now to the arm portion 18 of the system 10, in some examples, as shown in FIGS. 1-4, the arm portion 18 can include a disc 56 and a top plate 58. Generally, the disc 56 can be configured to engage with the base portion 16 and the top plate 58 can be coupled to a robotic arm 12. More specifically, the disc 56 can include a first or upper lateral surface 60 configured to engage with the top plate 58 and a second or lower lateral surface 62 configured to engage with the base portion 16, and the top plate 58 can include a first or upper lateral surface 64 configured to engage with the robotic arm 12 and a second or lower lateral surface 66 configured to engage with the upper lateral surface 60 of the disc 56.

[0037] Furthermore, referring to FIGS. 10 and 11, the top plate 58 can include two sets of holes 68, 70 extending therethrough. A first set of holes 68 through the top plate 58 can align with corresponding holes 72 extending into or through the disc 56 (shown in FIGS. 12, 13, and 14). Fasteners 74 (shown in FIGS. 2 and 19) can be inserted through the first set of holes 68 of the top plate 58 and the corresponding holes 72 of the disc 56 to couple the components together. In some embodiments, the holes 68, 72 can include internal threading so that screws may be used as fasteners to couple the components together, though other fasteners may be contemplated in some embodiments. For example, in other embodiments, the fasteners 74 caninclude nuts and bolts, and shown in FIGS. 2 and 19. In some embodiments, the first set of holes 68 can include sixteen holes spaced around an outer periphery of the top plate 58, though a different number of holes 68 may be used, such as fourteen, eighteen, a number between ten and twenty, or another amount of holes 68.

[0038] The top plate 58 can further include a second set of holes 70 extending therethrough that can be used to couple the top plate 58 and, more generally, the arm portion 18 to a robotic arm 12. That is, the top plate 58 can be coupled to the robotic arm 12 by inserting fasteners (not shown) through the second set of holes 70 into the robotic arm 12. Once the top plate 58 and the robotic arm 12 are coupled together, the disc 56 can be coupled to the top plate 58, as described below. In some embodiments, such fasteners can be counter bore screws or URT screws, though other fasteners may be contemplated in some embodiments. Furthermore, in some embodiments, as shown in FIG. 11, the second set of holes 70 can include a larger diameter adjacent the lower lateral surface 66 of the top plate 58 to accommodate screw heads, thus allowing the screw heads to lie flush with the lower lateral surface 66 of the top plate 58. As a result, the disc 56 can lie generally flush against the top plate 58 when the components are coupled together. Additionally, in some embodiments, the second set of holes 70 can include twenty-five holes spaced around an outer periphery of the top plate 58, though a different number of holes 70 may be used. While the second set of holes 70 are shown as being positioned radially inward from the first set of holes 68 in the illustrated embodiment, in some embodiments, the holes 68, 70 may be positioned at other locations along the top plate 58.

[0039] Referring now to FIGS. 1-4 and 12-15, as noted above, the disc 56 can be coupled to the top plate 58 (e.g., via holes 68, 72 and fasteners 74) and can be further coupled to the base portion 16. As best shown in FIGS. 12-15, the disc 56 can include a leg 76 extending axially outward from the lower lateral surface 62 of the disc 56. Generally, the leg 76 can engage a hook 36 of the base portion 16 when the disc 56 is placed on the perimeter portion 34 of the base plate 24 and rotated to couple together the base portion 16 and the arm portion 18. Accordingly, the number of legs 76 can be equal to the number of hooks 36 on the base portion 16 (e.g., four legs 76 and four hooks 36 in the illustrated embodiment, though the number may be fewer or more in some embodiments).

[0040] Referring still to FIGS. 12-15, each leg 76 can include an axial portion 78 extending axially outward from the lower lateral surface 62 of disc 56 and a lateral portion 80 extending laterally outward from an end of the axial portion 78 along a plane generally parallel to lowerlateral surface 62 of the disc 56. As shown in the cross-sectional view of FIG. 16, when the disc 56 is placed upon the perimeter portion 34 of the base top 22 and rotated, the lateral portion 80 of each leg 76 can be sized to extend into, or be received within, the open space 46 created by the hooks 36 such that axial movement of the components away from each other (e.g., in the positive y-direction of the axes illustrated in FIG. 16) is prevented due to the lateral portion 80 of the leg 76 engaging the radial portion 40 of the hook 36. Furthermore, when the leg 76 and the hook 36 are engaged, as shown in FIGS. 1, 2, and 16, a fastener 82 (shown in FIGS. 2 and 18) can be inserted through the hole 38 of the perimeter portion 34 to contact the leg 76 and apply radially inward pressure against the leg 76. In this manner, the fastener 82 can inhibit movement of the leg 76, preventing the leg 76 from disengaging from the hook 36, thus locking the components together. In other words, the fastener 82 can prevent the components from twisting and, as a result, disengaging from each other.

[0041] Accordingly, the fastener 82 can provide a mechanism to prevent the base portion 16 and the arm portion 18 from twisting relative to one another once they are engaged, locking the components together. As such, the system 10 can maintain a strong engagement between the components despite forces from any angle or plane (e.g., horizontal forces or vertical forces). Additionally, in some embodiments, the fastener 82 can be relatively simple for a user to insert and tighten to lock the components together. More specifically, as shown in FIG. 15, the disc 56 can be substantially circular having an outer diameter and an inner diameter. The leg 76 can be positioned on the disc 56 between the outer diameter and the inner diameter along a radius, R. The lateral portion 80 of the leg 76 can extend at an angle 9 relative to the radius R. For example, in one embodiment, the angle 9 can be about 90 degrees. Due to this approximately 90-degree angle, in some embodiments, the fastener 82 can be hand-twisted by a user to engage the leg 76 with enough force to substantially prevent or significantly reduce twisting movement of the disc 56 relative to the base top 22. In other examples, however, the angle 9 may range from between about 30 degrees and about 100 degrees.

[0042] In some embodiments, the system 10 can include one or more additional features to facilitate engagement between the base portion 16 and the arm portion 18 and help prevent disengagement of the components. For example, as noted above, the perimeter portion 34 can include the inner lip 48, which can help a user initially align the disc 56 with the base top 22. As best shown in FIGS. 12-15, each leg 76 can also include an angled end portion 84 along itsouter periphery to assist with urging the leg 76 downward past the inner lip 48 when a user is pressing the arm portion 18 downward into the base portion 16 and twisting.

[0043] As another example, referring back to FIG. 14, in some embodiments, the lateral portion 80 of the leg 76 can be angled to help maintain a tight engagement between the leg 76 and the hook 36 of the base top 22 when the leg 76 is inserted into the open space 46. More specifically, as shown in FIG. 14, the lateral portion 80 of the leg 76 can extend laterally outward at an angle (|> relative to a plane parallel to the lower lateral surface 62 of the disc 56. In some embodiments, the angle (|> may be about 15 degrees. In further embodiments, the angle (|) may be in the range of about 3 degrees to about 70 degrees. By way of example, a study was conducted using the illustrated system 10 having an angle 0 of 90 degrees and an angle (|> of 15 degrees, in which the system 10 securely retained a 9.5 kilogram (kg) robotic arm 12 against a base 14 during use of the robotic arm 12 with a 2.9 kg payload without the arm portion 18 being loosened from the base portion 16.

[0044] Additionally, as shown in the embodiments illustrated in FIGS. 1-16, the system 10 includes four legs 76 and four hooks 36 evenly spaced around the disc 56 and the base top 22, respectively. As a result, the arm portion 18 can be inserted into the base portion 16 from multiple different rotational positions, and a user only needs to rotate the arm portion 18 relative to the base portion 16 less than 90 degrees to lock the components together (e.g., between about 5 degrees and less than about 90 degrees). This symmetry also can help strengthen the engagement, e.g., by preventing disengagement caused by forces applied from any angle, for example, compared to systems that only include one insertion position and, as a result, potential uneven weak points in the engagement. Additionally, in some applications, only a single fastener 82 in one of the holes 38 may provide sufficient force against the disc 56 to prevent disengagement. However, in other applications, e.g., depending on robot size and / or anticipated payloads, each hole 38 may require a respective fastener 74 to ensure proper engagement.

[0045] Furthermore, in some embodiments, the components of the system 10, including the base portion 16 and the arm portion 18 can be comprised of aluminum. Such composition can help attain a balanced equilibrium between structural integrity and weight considerations. For example, if different materials are used in some embodiments, more or fewer legs 76 and hooks 36 may be included to account for the increased or decreased strength of the material.

[0046] Accordingly, the system 10 of some embodiments can expedite the seamless attachment and detachment of robotic manipulator arms to a robot base platform, optimizing operational efficiency. The system 10 can provide a significant time and effort saver in applications that requirement moving a robotic arm 12 between different workstations. Furthermore, while the above description of the system 10 refers to the base portion 16 and the arm portion 18 having specific components, in some applications, the base portion 16 and the arm portion 18 may be reversed, i.e., such that the base portion 16 is coupled to a robotic arm 12 and the arm portion 18 is coupled to a base 14.

[0047] In light of the above, some embodiments provide a method 90, as shown in FIG. 17, for coupling a robotic arm 12 to a base 14 using the system 10 described herein. It should be noted that, while the method 90 in FIG. 17 is shown and described as having certain method steps in a specific order, in some implementations, the method 90 may include fewer or more steps, steps in a different order, and / or two or more steps performed simultaneously.

[0048] Generally, the method 90 can include, at step 92, coupling the base plate 24 to the base top 22, as shown in FIG. 18. At step 94, the base plate 24 can be coupled to the base 14. At step 96, the top plate 58 can be coupled to the robotic arm 12 and, at step 98, the disc 56 can be coupled to the top plate 58, as shown in FIG. 19. Additionally, in some embodiments, a robotic arm 12 may be adapted to directly receive a disc 56. As such, step 96 may be eliminated and, at step 98, the disc 56 can be coupled directly to the robotic arm 12, e.g., be inserting fasteners through the holes 72 into the robotic arm 12. Accordingly, in such embodiments, the system 10 may only include the base plate 24, the base top 22, and the disc 56, e.g., as shown in FIG. 16.

[0049] Referring back to the method 90 of claim 17, following step 98, the base portion 16, comprising the base top 22 and the base plate 24, is coupled to the base 14 and the arm portion 18, comprising the disc 56 alone or in combination with the top plate 58, is coupled to the robotic arm 12. At step 100, placing the arm portion 18 on the base portion 16 or, more specifically, placing the disc 56 atop the perimeter portion 34 of the base top 22. At step 102, the arm portion 18 can be rotated relative to the base portion 16, for example, in a first direction until the legs 76 fit into the open spaces 46 under the hooks 36, to couple the components together. Once the components are coupled together, at step 104, a fastener 82 can be inserted through one or more of the holes 38 in the perimeter portion 34 until the fastener 82 engages the leg 76 of the arm portion 18 to prevent or resist rotation of the arm portion 18 relative tothe base portion 16 in an opposite second direction. In some embodiments, the fastener 82 can be hand-screwed, or screwed via a tool, through the hole 38 to tighten the fastener 82 against the leg 76, thus locking the disc 56 in place.

[0050] To disengage the components, for example, to move the robotic arm 12 to a different base 14, or to install a different robotic arm 12 onto the base 14, one or more of the steps of the method 90 can generally be performed in reverse. For example, the fastener(s) 82 can be unscrewed from the hole(s) 38, and the arm portion 18 can be rotated relative to the base portion 16 in the opposite second direction to unscrew the components from each other. In some work areas, multiple base portions 16 can be pre-installed at various workstations, allowing a robotic arm 12 with a respective arm portion 18 to be quickly moved around to different base portions 16 at the workstations. In other areas, however, the base plate 24 of the base portion 16 can be disengaged from the base 14 and reinstalled on a different base 14 (e.g., repeating step 94), and a robotic arm 12, with a corresponding arm portion 18, can be secured to the newly installed base portion 16. Additionally, in some work areas, multiple robotic arms 12 can include respective, pre-installed arm portions 18, allowing one robotic arm 12 to be quickly disengaged from a base portion 16 and a different robotic arm 12, including its own arm portion 18, to be secured to the base portion 16. However, in other areas, the arm portion 18 can be disengaged from one robotic arm 12 and coupled to a new robotic arm 12, allowing the new robotic arm 12 to be secured to the base portion 16.

[0051] It will be appreciated by those skilled in the art that while the invention has been described above in connection with particular embodiments and examples, the invention is not necessarily so limited, and that numerous other embodiments, examples, uses, modifications and departures from the embodiments, examples and uses are intended to be encompassed by the claims attached hereto. The entire disclosure of each patent and publication cited herein is incorporated by reference, as if each such patent or publication were individually incorporated by reference herein. Various features and advantages of the invention are set forth in the following claims.

Claims

CLAIMS1. A quick-change system for mounting a robotic arm to a base, the system comprising: a base portion to be coupled to the base, the base portion comprising a base top including: a perimeter portion, and a hook extending radially inward from the perimeter portion; and an arm portion to be coupled to the robotic arm, the arm portion comprising: a disc, and a leg extending axially outward from a surface of the disc, the leg to engage the hook of the base portion when the disc is placed on the perimeter portion of the base portion and rotated to couple together the base portion and the arm portion.

2. The system of claim 1, wherein the hook comprises four hooks and the leg comprises four legs.

3. The system of claim 1, wherein the perimeter portion includes a hole defined radially therethrough adjacent to the hook; and further comprising a fastener to extend through the hole to contact the leg when the base portion and the arm portion are coupled together.

4. The system of claim 1, wherein the base portion further comprises a base plate coupled to the base top, the base plate to be coupled to the base.

5. The system of claim 4, wherein the base plate and the base top are coupled together via additional fasteners that extend through the base plate and into the perimeter portion and the hook.

6. The system of claim 1, wherein the arm portion further comprises a top plate coupled to the disc, the top plate to be coupled to the robotic arm.

7. The system of claim 1, wherein the leg includes an axial leg portion extending axially outward from the surface of the disc and a radial leg portion extending generally parallel to the disc.

8. The system of claim 7, wherein the radial leg portion extends at about a 15-degree angle relative to a surface of the disc.

9. The system of claim 1, wherein the leg includes an angled end portion along its outer periphery.

10. The system of claim 1, wherein the base portion and the arm portion are comprised of aluminum.

11. A method for mounting a robotic arm to a base using a quick-change system, the method comprising: coupling a base portion to the base, the base portion comprising a base top including: a perimeter portion, and a hook extending radially inward from the perimeter portion; coupling an arm portion to the robotic arm, the arm portion comprising: a disc, and a leg extending axially outward from a surface of the disc; placing the disc of the arm portion on the perimeter portion of the base portion; and rotating the arm portion relative to the base portion in a first direction to cause the leg of the arm portion to engage the hook of the base portion.

12. The method of claim 11, further comprising preventing rotation of the arm portion relative to the base portion in a second direction opposite the first direction by inserting a fastener through a hole of the perimeter portion to urge the fastener against the leg.

13. The method of claim 11, wherein rotating the arm portion relative to the base portion includes rotating the arm portion between about 5 degrees and less than about 90 degrees.

14. The method of claim 11, wherein coupling the base portion to the base comprises: coupling a base plate to the base top; and after coupling the base plate to the base top, coupling the base plate to the base.

15. The method of claim 11, wherein coupling the arm portion to the robotic arm comprises: coupling a top plate to the robotic arm; and after coupling the top plate to the robotic arm, coupling the disc to the top plate.

16. A quick-change system for mounting a robotic arm to a base, the system comprising: a base portion to be coupled to the base, the base portion comprising a base top including: a perimeter portion, and a hook including a radial portion extending radially inward from the perimeter portion and an axial hook portion extending axially from an end of the radial portion to create an open space between the axial hook portion and the perimeter portion; and an arm portion to be coupled to the robotic arm, the arm portion comprising: a disc, and a leg including an axial leg portion extending axially outward from a surface of the disc and a lateral portion extending laterally outward from an end of the axial leg portion, the lateral portion sized to be received within the open space of the base portion when the arm portion is rotated relative to the base portion.

17. The system of claim 16, further comprising a base plate, wherein the base top is removably coupled to the base plate via a fastener extending through the base plate and a bottom of the axial hook portion.

18. The system of claim 16, wherein the perimeter portion includes a hole extending therethrough adjacent to the hook, the hole to receive a fastener therethrough to engage the leg when the arm portion is rotated relative to the base portion.

19. The system of claim 16, wherein the lateral portion extends outward from the end of the axial leg portion at an angle relative to a radius of the arm portion, the angle being between about 30 degrees and about 100 degrees.

20. The system of claim 16, wherein the perimeter portion forms an open cylinder with a first lateral surface having a larger diameter than an opposite second lateral surface.

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