FORCE/TORQUE SENSOR HAVING REDUNDANT INSTRUMENTATION AND OPERATIVE TO DETECT FAULTS

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. 1. A force/torque sensor comprising:a Tool Adapter Plate (TAP) operative to be connected to a first object:a Mounting Adapter Plate (MAP) operative to be connected to a second object;a number n of deformable beams connecting the TAP to the MAP, wherein n≧4;instrumentation comprising strain gages affixed to surfaces of four of the n deformable beams; and separately resolve the direction and magnitude of force and torque between the first and second objects, in response to electrical signals from strain gages on four different combinations of three of the four instrumented beams,', 'compare the resolved force and torque outputs of the four resolutions; and', 'signal a fault if at least one of the four force/torque outputs differs from the others by more than a predetermined tolerance., 'a measurement circuit operative to'}2. The sensor of whereinthe first object is a robotic tool or a mechanical coupling to a robotic tool; andthe second object is a robotic arm or a mechanical coupling to a robotic arm.3. The sensor of wherein the measurement circuit operative is further operative to output the unique resolved force and torque outputs if claim 1 , in the comparison step claim 1 , three of the four resolutions agree with in predetermined tolerance and one resolution disagrees.4. ...

Robotic tool coupler rapid-connect bus

A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Robotic tool coupler rapid-connect bus

A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Tool side robotic safety interlock

A robotic tool changer with an improved safety interlock includes a master unit, a tool unit, and a coupler movable between coupled and decoupled positions and operative to couple the master and tool units. A circuit for actuating the coupler is associated with the tool unit, for connection to an interlock that closes when the tool is safely parked in a tool stand. The circuit enables the coupler to assume the decoupled position when the master and tool units are coupled and the circuit is closed. The robotic tool changer additionally includes a circuit operative to enable the coupler to assume the decoupled position when the master unit is decoupled from the tool unit.

Tool side robotic safety interlock

Werkzeugseitige Robotersicherheitsverriegelung

Roboterwerkzeugwechsler, umfassend: eine Mastereinheit; eine Werkzeugeinheit; einen Koppler, der zwischen einer gekoppelten und entkoppelten Position selektiv bewegbar ist und betreibbar ist, um die Master- und Werkzeugeinheit durch Bewegen des Kopplers zu der gekoppelten Position zusammenzukoppeln; eine elektrische Schaltung zur Betätigung des Kopplers, umfassend: mindestens zwei Kontakte, die der Werkzeugeinheit zugeordnet sind und betreibbar sind, um zu ermöglichen, dass der Koppler die entkoppelte Position einnimmt, wenn die Kontakte elektrisch miteinander verbunden sind; und einen ersten Schalter, der betreibbar ist, um zu ermöglichen, dass der Koppler die entkoppelte Position nur einnimmt, wenn die Mastereinheit von der Werkzeugeinheit entkoppelt ist.

Tool side robotic safety interlock