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1. 发明申请

US20220063037A1 Robotic Tool Changer Having Debris Passages for Channeling Debris from the Ball-Locking Mechanism 有权
公开(公告)号：US20220063037A1
公开(公告)日：2022-03-03
申请号：US17002043
申请日：2020-08-25
申请人： ATI Industrial Automation, Inc.
发明人： Brendon FitzPatrick
IPC分类号： B23Q3/155 , B23Q11/00
摘要： A robotic tool changer includes master and tool assemblies that are coupled by urging a plurality of rolling members contained in openings in the master assembly into contact with a bearing race contained in the tool assembly. Accumulations of debris in and around the contact points between the rolling members and bearing race are permitted to escape via a series of debris passages formed between the rolling members and the openings when the master and tool assemblies are coupled.

2. 发明申请

US20210387352A1 Robotic Force/Torque Sensor with Controlled Thermal Conduction 有权
公开(公告)号：US20210387352A1
公开(公告)日：2021-12-16
申请号：US16902674
申请日：2020-06-16
申请人： ATI Industrial Automation, Inc.
发明人： Joseph Lipsey
IPC分类号： B25J13/08 , B25J19/00 , B25J15/00 , G01L1/22
摘要： A robotic force/torque (FT) sensor restricts the conduction of heat, generated by an attached tool, through the FT sensor body to a radial direction. Heat from the tool is channeled to the center of the FT sensor body by a thermally conductive member. Additionally, heat from the tool is insulated from portions of the FT sensor body other than its center by a thermally insulating member. Transducers, such as strain gages attached to the surfaces of deformable beams, are disposed at a substantially equal distance from the center of the FT sensor body. Accordingly, as heat conducts through the FT sensor body from the center radially outwardly, all transducers experience substantially equal thermal load at any given time. Embodiments of the present invention substantially eliminate thermal gradients across groups of transducers that are wired in differential circuit topologies, such as half-bridge or quarter-bridge, enhancing the ability of such circuits to reject a common-mode signal component caused by thermal changes to the FT sensor body or the transducers themselves. Elimination of thermal gradients in the FT sensor body, other than one in the radial direction, enhances the effectiveness of known temperature compensation techniques.

3. 发明授权

US11097390B2 Pneumatic safety interlock 有权
公开(公告)号：US11097390B2
公开(公告)日：2021-08-24
申请号：US16550928
申请日：2019-08-26
申请人： ATI Industrial Automation, Inc.
发明人： William G. Berrocal , Mack Earl Manning , John M. Winterroth
IPC分类号： B23Q3/155 , B23B31/30 , B25J15/04 , B25J19/06
摘要： A robotic tool changer ensures inherently safe decoupling operation by only providing pneumatic fluid to a decouple port of a pneumatic coupling mechanism in the case that the tool changer is seated on, and properly aligned with, a tool stand. Pneumatic fluid to decouple the pneumatic coupling mechanism is routed from an air source to the tool stand. A pass-through in the tool stand returns the pneumatic fluid to a pneumatic path in the tool changer leading to a decouple port of the pneumatic coupling mechanism. Hence, the tool changer must be seated on the tool stand for the decouple port to receive pneumatic fluid to operate. Furthermore, a safety coupling is interposed on the pneumatic path between the tool stand and the decouple port. The safety coupling requires the tool changer to be seated on, and properly aligned with, the tool stand to effect the flow of pneumatic fluid—otherwise, the pneumatic fluid is bled to the atmosphere.

4. 发明申请

US20210057862A1 Motor Brush Quick Change Assembly 有权
公开(公告)号：US20210057862A1
公开(公告)日：2021-02-25
申请号：US16547710
申请日：2019-08-22
申请人： ATI Industrial Automation, Inc.
发明人： David John Bohle, II , Sophia Katrina Davis , Dustin Christopher Simons
IPC分类号： H01R39/38 , H02K15/00
摘要： A motor brush quick change assembly that includes brush units and electrical spring contacts. The brush units include a carrier with a housing and a brush. The electrical spring contacts are connected to an electrical device. Each of the brush units is configured to be removably attached to the electrical device to contact one of the electrical spring contacts. The brush unit thus provide for both a mechanical and electrical connection to the electrical device. The brush units are configured to prevent the need for separate electrical leads that require separate attachment and detachment to the electrical device. This design provides for straight-forward removal and replacement that can be performed by a robotic device or an operator.

5. 发明授权

US10661449B2 Safe robotic tool changer 有权
公开(公告)号：US10661449B2
公开(公告)日：2020-05-26
申请号：US14939113
申请日：2015-11-12
申请人： ATI Industrial Automation, Inc.
发明人： Kyle Zachary , Mack Earl Manning , Daniel Allen Norton
IPC分类号： B23B31/30 , B23B31/107 , B25J15/04 , B23Q1/00
摘要： In an inherently safe robotic tool changer, a master unit couples to a tool unit via a first power source, and decouples from the tool unit using a separate, second power source. The second power source is only available when an attached tool is safely disposed in a tool stand. In embodiments where the first power source is not selectively applied, such as the constant bias provided by a spring, a detent mechanism maintains the master unit in a decoupled state when the master unit is removed from the tool unit. The detent mechanism allows the master unit to couple to a different tool unit upon physically abutting the new tool unit.

6. 发明授权

US10404010B2 Modular pin and socket electrical connector assembly 有权
公开(公告)号：US10404010B2
公开(公告)日：2019-09-03
申请号：US15583111
申请日：2017-05-01
申请人： ATI Industrial Automation, Inc.
发明人： William G. Berrocal , Paul Luczka
IPC分类号： H01R13/64 , B21D39/03 , B23P11/00 , B23B31/16 , H01R13/24 , H01R13/631 , H01R13/426 , B25J15/04 , B25J19/00
摘要： A modular approach to an electrical power and/or signal passing utility module is presented. A universal receptacle is fixedly disposed in bores in both of first and second signal connector blocks. A threaded socket member and a nonconductive guide bushing are installed, as needed, in receptacles in the first block, and a threaded pin member is installed in corresponding receptacles in the second block. The nonconductive guide bushing insulates the sockets, and guides pin posts into the socket as the two blocks abut. A compliant member such as an o-ring provides compliance of the socket and pin assemblies in the signal connector blocks, making the assemblies self-aligning. The socket and pin assemblies are field-replaceable by use of a simple tool.

7. 发明申请

US20170211999A1 FORCE/TORQUE SENSOR HAVING REDUNDANT INSTRUMENTATION AND OPERATIVE TO DETECT FAULTS 审中-公开
公开(公告)号：US20170211999A1
公开(公告)日：2017-07-27
申请号：US15401232
申请日：2017-01-09
申请人： ATI Industrial Automation, Inc.
发明人： Everett Lester Bradford , Dwayne Perry
IPC分类号： G01L5/00 , B25J19/00 , G01L25/00 , B25J13/08 , G01L1/22 , G01L3/10
CPC分类号： G01L5/0066 , B25J13/085 , B25J15/04 , B25J19/0095 , G01L1/225 , G01L3/108 , G01L25/003 , G05B2219/39024 , G05B2219/39529
摘要： A force/torque sensor includes a number n of deformable beams connecting the TAP to the MAP, wherein n≧4. At least four of the n deformable beams are instrumented with strain gages affixed to surfaces of the beams, such that each beam outputs two gage signals. The eight gage signals are grouped into four sets of six gage signals, such that each set includes the gage signals from three of the four instrumented beams. Each set of six gage signals is multiplied by a calibration matrix to yield a set of six force and torque values. The four sets of force and torque values are compared. If one set disagrees with the other three by greater than a predetermined tolerance, a sensor fault is signaled.

8. 发明申请

US20160052146A1 ROBOTIC TOOL CHANGER WITH TOOL STAND DECOUPLE POWER SUPPLY 审中-公开
标题翻译：机械工具更换与工具台式电源
公开(公告)号：US20160052146A1
公开(公告)日：2016-02-25
申请号：US14749708
申请日：2015-06-25
申请人： ATI Industrial Automation, Inc.
发明人： William G. Berrocal , Mack Earl Manning
IPC分类号： B25J15/04 , B23Q3/155 , B23B31/30
CPC分类号： B25J15/0441 , B23B31/30 , B23Q3/1552 , B25J15/0416 , B25J15/0491
摘要： A robotic tool changer ensures inherently safe operation by separating power sources for the “couple” and “decouple” operations of its coupling mechanism. The power for the decouple operation is available only when an attached robotic tool is safely disposed in its tool stand. Once the robotic tool leaves the tool stand, there is no power supplied to the coupling mechanism of the robotic tool changer to decouple the robotic tool from a robot arm. Accordingly, it is impossible for the robotic tool to inadvertently become disengaged from the robot arm—even if software were to erroneously assert a DECOUPLE signal, or otherwise initiate a decouple operation. Furthermore, since the design is inherently safe, neither interlock circuits, the redundancy of such circuits, nor the extensive and complex monitoring circuits necessary to ensure their proper operation, are necessary.
摘要翻译：机器人换刀器通过分离其联接机构的“耦合”和“去耦”操作的电源来确保本质安全的操作。只有当连接的机器人工具安全地放置在其工具架上时，解耦操作的电源才可用。一旦机器人工具离开工具架，则没有电源供给机器人工具更换器的联接机构，以将机器人工具与机器人手臂分离。因此，机器人工具不可能无意中脱离机器人臂 - 即使软件错误地声明了DECOUPLE信号，或者以其他方式启动解耦操作。此外，由于设计本质上是安全的，所以不需要互锁电路，这种电路的冗余以及确保其正常工作所必需的广泛和复杂的监控电路。

9. 发明授权

US11548169B2 Linkage assembly for attaching a tool to a robotic device 有权
公开(公告)号：US11548169B2
公开(公告)日：2023-01-10
申请号：US16574579
申请日：2019-09-18
申请人： ATI Industrial Automation, Inc.
发明人： David John Bohle, II , Laleh Alighanbari Jamshidi , Matthew Wayne Ledford
IPC分类号： B25J15/04 , B25J17/02 , B25J19/02
摘要： A linkage assembly to connect a tool to a robotic device. The linkage assembly includes a body and a first linkage pair with first and second links that are configured to be connected to a first section of the tool. The linkage assembly also includes a second linkage pair that includes first and second links that are configured to be connected to a second section of the tool. The first linkage pair are powered to provide a force to move the tool relative to the body. The second linkage pair supports the tool and moves with the first linkage pair. Each of the first and second linkage pairs are pivotally connected to the body and may maintain parallel positioning during the movement.

10. 发明授权

US11491663B2 Robotic force/torque sensor with controlled thermal conduction 有权
公开(公告)号：US11491663B2
公开(公告)日：2022-11-08
申请号：US16902674
申请日：2020-06-16
申请人： ATI Industrial Automation, Inc.
发明人： Joseph Lipsey
IPC分类号： B25J13/08 , G01L1/22 , B25J15/00 , B25J19/00
摘要： A robotic force/torque (FT) sensor restricts the conduction of heat, generated by an attached tool, through the FT sensor body to a radial direction. Heat from the tool is channeled to the center of the FT sensor body by a thermally conductive member. Additionally, heat from the tool is insulated from portions of the FT sensor body other than its center by a thermally insulating member. Transducers, such as strain gages attached to the surfaces of deformable beams, are disposed at a substantially equal distance from the center of the FT sensor body. Accordingly, as heat conducts through the FT sensor body from the center radially outwardly, all transducers experience substantially equal thermal load at any given time. Embodiments of the present invention substantially eliminate thermal gradients across groups of transducers that are wired in differential circuit topologies, such as half-bridge or quarter-bridge, enhancing the ability of such circuits to reject a common-mode signal component caused by thermal changes to the FT sensor body or the transducers themselves. Elimination of thermal gradients in the FT sensor body, other than one in the radial direction, enhances the effectiveness of known temperature compensation techniques.

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