发明授权
- 专利标题: Automotive door opening robot assembly
- 专利标题(中): 汽车门开启机器人装配
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申请号: US958276申请日: 1997-10-27
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公开(公告)号: US5941679A公开(公告)日: 1999-08-24
- 发明人: Robert Charles Foti , Lupcho Najdovski , Stan H. McClosky
- 申请人: Robert Charles Foti , Lupcho Najdovski , Stan H. McClosky
- 申请人地址: MI Rochester Hills
- 专利权人: FANUC Robotics North America, Inc.
- 当前专利权人: FANUC Robotics North America, Inc.
- 当前专利权人地址: MI Rochester Hills
- 主分类号: B25J17/02
- IPC分类号: B25J17/02 ; B05B12/00 ; B25J15/00 ; B25J15/04 ; B66C1/04
摘要:
A robot assembly (10) for opening and holding an automotive door including a base (12) movably mounted to a platform (14). An inner robot arm (18) is pivotally mounted to the base. An outer robot arm (20) is pivotally mounted to the inner arm (18). A tool arm (22) is pivotally mounted to the outer robot arm (20). The tool arm (22) includes a shaft (58) presenting a second tool arm axis (A.sub.4) for rotation about the second tool arm axis (A.sub.4). A sphere (90), presenting first, second and third sphere axes (A.sub.5,A.sub.6,A.sub.7), is mounted to the distal end of the shaft (58) for rotatably supporting a magnet tool (118). A pin (104) extends from the sphere (90) for preventing the rotation of the tool (118) about the first sphere axis (A.sub.) which is parallel to the second tool arm axis (A.sub.4). The tool (118) is positioned in a home position relative to the second tool arm axis (A.sub.4) by a biasing spring (70) operatively connected to the shaft (58). The tool (118) is positioned in a normal position relative to the second sphere axis (A.sub.6) by a pair of biasing springs (110) engaged with the pin (104). The robot arms (18, 20) maneuver the tool (118) such that the tool (118) engages and opens the door. As the tool (118) engages and opens the door, the tool (118) rotates about the second tool arm axis (A.sub.4), the second sphere axis (As, and the third sphere axis (A.sub.7). The sphere (90) is sealed by a sealing means (112, 114) which accommodates for the rotation of the tool (118). A proximity sensor (74) detects if the tool (118) has hold of the door. The tool arm (22) includes a clutch plate (24) for allowing the tool arm (22) to breakaway from the outer robot arm (20) in the event the tool (118) unexpectedly crashes.