SYSTEM FOR CONTROLLING ROBOTIC END EFFECTORS

Abstract

A robotic manipulator comprises: a robotic stand; an articulated robotic arm mounted on said robotic stand; said robotic arm comprising a chain of articulated members, said chain comprises proximal and distal members at ends thereof, an end effector connectable to said distal member; said end effector comprising at least one element of the group consisting of an actuator, a sensor, a contact switch and any combination thereof, a control module further comprising a control circuit, a valve manifold and an electronic signal junction; said control circuit configured for controlling said at valve manifold and electronic signal circuitry and managing said at least one actuator therethrough. The control module is mounted on said robotic stand and provided with a mounting seat configured for securing said proximal terminal of said robotic arm to said control module.

Claims

1.-43. (canceled)

44. An adapter mechanism for coupling a robotic arm and an end effector; said arrangement comprising first and second parts connectable to said robotic arm and said end effector; said first and second parts having first and second contact surfaces, respectively, releasably couplable to each other; wherein said first contact surface has at least one recess, said second contact surface has at least one projection conformably insertable into said at least one recess; said first part has at least one spring-loaded member movable therethrough; said projection has at least one cut-out configured for receiving said at least one spring-loaded member when said first and second contact surfaces are coupled to each other; said at least one spring-loaded member and said cutout are conformally edged such that said at least one spring-loaded member when inserted into said cutout releasably presses said first and second portions to each other; said at least one spring-loaded member is pressable in manual or motorized manners; coupling/decoupling said adapter mechanism comprises motorized moving said adapter mechanism via a pair of edges parallel to each other and arranged to press said at least one spring-loaded member.

45. The adapter mechanism according to claim 44, wherein said first and second parts comprise at least one pneumatic feedthrough each.

46. The adapter mechanism according to claim 44, wherein said arrangement comprises a gasket placeable between first and second contact surfaces and sealing a connection between said at least one pneumatic feedthrough belonging said first part and said at least one pneumatic feedthrough belonging said second part.

47. The adapter mechanism according to claim 44, wherein said first portion comprises at least two spring-loaded members further comprising latches disposed on opposite sides of said first part, said projection of said second part is a rim for seating having undercuts therewithin; said latches have shoulders thereof carrying wedged surfaces conformal to internal surfaces of said undercuts.

48. The adapter mechanism according to claim 44, wherein said first and second portion further comprise at least one electrical feedthrough each.

49. The adapter mechanism according to claim 48, wherein said at least one electrical feedthrough is selected from the group consisting of a power line, a signal line, a control line and any combination thereof.

50. The adapter mechanism according to claim 49, comprising a sensor selected from the group consisting of a status sensor within said end effector; a sensor detecting engagement between said first and second part, an identification sensor configured for recognizing said end effector secured to said first or second part and any combination thereof, said sensor is connectable to said signal line.

51. The adapter mechanism according to claim 49, wherein said electrical feedthroughs comprise electrical contact pins and/or electrical contact pads.

52. The adapter mechanism according to claim 45, wherein external pneumatic and/or electrical feedthroughs are connectable to said pneumatic and/or electric feedthroughs within said arrangement by one of the following: a. a connector shoe having at least one pneumatic and/or electrical feedthrough therewithin; said connector shoe is placeable within a connector cavity within one of said first and second parts and attachable to said pneumatic and/or electric feedthroughs of one of said first and second contact surfaces forming fluid and/or electric contact between said pneumatic and/or electric feedthroughs of said connector shoe and another of said first and second parts; and b. a plug-and-socket connector.

53. The adapter mechanism according to claim 46, wherein said gasket disposed on first contact surface around said at least one pneumatic channel.

54. The adapter mechanism according to claim 46, wherein said gasket on second contact surface around said at least one pneumatic channel.

55. The adapter mechanism according to claim 44, wherein said first part is secured to said robotic arm; said second part is secured to said end effector; said arrangement further comprises a rack for docking said second part carrying said end effector; each bracket comprises a recess having edges thereof conformally shaped for receiving said second part to be docked therewithin by moving coupled first and second parts along said edges in a first direction; said bracket comprises first sidewise-located wedged-shaped restrictions parallel to said edges and pressing said spring-loaded members into an open position such that said first part is disconnected from said second part when said second part is pushed into said recess along said edges.

56. The adapter mechanism according to claim 55, wherein said first direction is parallel or slightly inclined relative to a ground line such that said second part with said end effector is gravitationally confined within said recess; said first part secured to said robotic arm when disconnected from said second part is drawn upward from said second part.

57. The adapter mechanism according to claim 55, wherein said bracket has second sidewise-located wedged-shaped restrictions oriented in a second direction being at a predetermined angle to said first direction such that said spring-loaded members of said first part are pressed into said open position when said first part is drawn in said second direction via said second sidewise-located wedged-shaped restrictions to said second part and released into said closed position when said coupled first and second parts are withdrawn along said second direction.

58. The adapter mechanism according to claim 55, wherein said first and second directions are orthogonal to each other.

59. A robotic manipulator comprising: a. a robotic stand; b. an articulated robotic arm mounted on said robotic stand; said robotic arm comprising a chain of articulated members jointly connected to each other; said chain comprises proximal and distal members at ends thereof, c. an end effector connectable to said distal member; said end effector comprising at least one element selected from the group consisting of an actuator, a sensor, a contact switch and any combination thereof; d. an adapter mechanism for coupling said distal member and said end effector; said arrangement comprising first and second parts connectable to said robotic arm and said end effector; said first and second parts having first and second contact surfaces, respectively, releasably couplable to each other; said first contact surface has at least one recess, said second contact surface has at least one projection conformably insertable into said at least one recess; said first part has at least one spring-loaded member movable therethrough; said projection has at least one cut-out configured for receiving said at least one spring-loaded member when said first and second contact surfaces are coupled to each other; said at least one spring-loaded member and said cutout are conformally edged such that said at least one spring-loaded member when inserted into said cutout releasably presses said first and second portions to each other; e. a control module further comprising a control circuit, a valve manifold and an electronic signal junction; said control circuit configured for controlling said at valve manifold and electronic signal circuitry and managing said at least one actuator therethrough; said control module is mounted on said robotic stand and provided with a mounting seat configured for securing said proximal terminal of said robotic arm to said control module; f. an arrangement for securing a harness to said articulated arm; said harness interconnecting said end effector and said control said arrangement further comprises at least one harness hanger pivotally secured to at least one of interconnecting joint of said robotic arm; g. a gripper rack for docking at least one end effector having at least one bracket for docking said second part said end effector; each bracket comprises a recess having edges thereof conformally shaped for receiving said second part; said bracket comprises first sidewise-located wedged-shaped restrictions parallel to said edges and pressing said spring-loaded members such that said first part is disconnected from said second part when said second part is pushed into said recess along said edges and connecting said first part to second part by releasing said spring-loaded members when said second part driven by said first part is withdrawn from said recess.

60. A robotic manipulator comprising: a. a robotic stand; b. an articulated robotic arm mounted on said robotic stand; said robotic arm comprising a chain of articulated members jointly connected to each other; said chain comprises proximal and distal members at ends thereof, c. an end effector connectable to said distal member; said end effector comprising at least one element selected from the group consisting of an actuator, a sensor, a contact switch and any combination thereof; d. an adapter mechanism for coupling said distal member and said end effector; said arrangement comprising first and second parts connectable to said robotic arm and said end effector; said first and second parts having first and second contact surfaces, respectively, releasably couplable to each other; said first contact surface has at least one recess, said second contact surface has at least one projection conformably insertable into said at least one recess; said first part has at least one spring-loaded member movable therethrough; said projection has at least one cut-out configured for receiving said at least one spring-loaded member when said first and second contact surfaces are coupled to each other; said at least one spring-loaded member and said cutout are conformally edged such that said at least one spring-loaded member when inserted into said cutout releasably presses said first and second portions to each other; e. a control module further comprising a control circuit, a valve manifold and an electronic signal junction; said control circuit configured for controlling said at valve manifold and electronic signal circuitry and managing said at least one actuator therethrough; said control module is mounted on said robotic stand and provided with a mounting seat configured for securing said proximal terminal of said robotic arm to said control module; f. a gripper rack for docking at least one end effector having at least one bracket for docking said second part said end effector; each bracket comprises a recess having edges thereof conformally shaped for receiving said second part; said bracket comprises first sidewise-located wedged-shaped restrictions parallel to said edges and pressing said spring-loaded members such that said first part is disconnected from said second part when said second part is pushed into said recess along said edges and connecting said first part to second part by releasing said spring-loaded members when said second part driven by said first part is withdrawn from said recess.

1. A robotic manipulator comprising: a. a robotic stand; b. an articulated robotic arm mounted on said robotic stand; said robotic arm comprising a chain of articulated members, said chain comprises proximal and distal members at ends thereof; c. an end effector connectable to said distal member; said end effector comprising at least one element of the group consisting of an actuator, a sensor, a contact switch and any combination thereof; d. a control module further comprising a control circuit, a valve manifold and an electronic signal junction; said control circuit configured for controlling said at valve manifold and electronic signal circuitry and managing said at least one actuator therethrough; wherein said control module is mounted on said robotic stand and provided with a mounting seat configured for securing said proximal terminal of said robotic arm to said control module.

2. The robotic manipulator according to claim 1, wherein said valve manifold is configured to feed a control air pressure to said at least one pneumatically operated actuator via at least one pneumatic line.

3. The robotic manipulator according to claim 1, wherein said electronic signal circuitry is configured to feed a control electric voltage to said at least one electrically operated actuator and receive signals from said at least one element of the group consisting of a sensor and a contact switch via said at least one electric feedthrough.

4. The robotic manipulator according to claim 1, wherein said end effector comprises at least one sensor connected to said control unit.

5. The robotic manipulator according to claim 1, wherein said at least one sensor is configured for detecting position of said articulated robotic arm and/or end effector.

6. An arrangement for securing a harness to an articulated arm; said harness connectable to an end effector; said articulated arm comprising a sequence of arm members jointly connected

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to understand the invention and to see how it may be implemented in practice, a plurality of embodiments is adapted to now be described, by way of nonlimiting example only, with reference to the accompanying drawings, in which

[0054] FIG. 1 is an overall isometric view of a system for mechanically manipulating and controlling robotic effectors;

[0055] FIGS. 2A and 2B are isometric views a control unit;

[0056] FIGS. 3A and 3B are isometric views of alternative embodiments of a robotic arm provided with a harness arrangement;

[0057] FIG. 4 is a schematic diagram of a harness arrangement for a robotic arm;

[0058] FIGS. 5A and 5B underside and topside exploded isometric views of an arrangement for coupling a robotic arm and an end effector, respectively;

[0059] FIG. 5C is an underside isometric view of a portion connectable to a robotic arm and a shoe connector placed therewithin;

[0060] FIG. 6A is an exploded isometric view of an alternative embodiment of an arrangement for coupling a robotic arm and an end effector;

[0061] FIG. 6B is a schematic side view of an alternative embodiment of an arrangement for coupling a robotic arm and an end effector;

[0062] FIGS. 7A, 7B and 7C illustrate a procedure of transporting an end effector to a effector rack, docking an end effector within a rack and undocking an end effector within from a rack, respectively;

[0063] FIG. 8A is an overall view of a stroke extending mechanism mounted within a storing box;

[0064] FIGS. 8B and 8C a are schematic top, and exploded isometric views of a two-lever stroke extending mechanism, respectively; FIGS. 8D and 8E are assembled views of alternative embodiments of a two-lever stroke extending mechanism

[0065] FIG. 8F is an assembled view of a one-lever stroke extending mechanism;

[0066] FIGS. 9A and 9B are isometric and end views of an I-shaped extrusion rail, respectively;

[0067] FIGS. 9C and 9D are isometric and end views of a C-shaped extrusion rail, respectively;

[0068] FIGS. 9E and 9F are isometric views of two plates fastened to each other;

[0069] FIG. 9G is isometric view of a first embodiment of a top-clamping mechanism;

[0070] FIGS. 9H and 9I are side views of two plates and a first embodiment of a top-clamping mechanism mounted therebetween in loose and tightened positions, respectively;

[0071] FIG. 9J is a side view of a nut having a pledge inserted into a groove of a C-shaped rail;

[0072] FIGS. 10A and 10B are isometric and side views of a second embodiment of a clamping mechanism, respectively;

[0073] FIG. 10C is an isometric exploded view of a second embodiment of a top-clamping mechanism;

[0074] FIGS. 10D and 10E are side views of two rails and a second embodiment of a top-clamping mechanism mounted therebetween in loose and tightened positions, respectively.

DETAILED DESCRIPTION OF THE INVENTION

[0075] In an aspect of the invention is provided a system for controlling a robotic effector, such as a gripper, independently from a robotic arm. To achieve this effect, connections to the effector are made entirely separately from the robotic arm,

[0076] Reference is now made to FIG. 1, showing a system 10 for independent control of a robotic effector 20, according to some embodiments of the invention. The system comprises a control unit 100, a harness-slack management system 200, a robot-effector adapter 300, and an effector rack 500.

[0077] A brief introduction to each component of the system 10 is now provided, followed by a detailed description of each component in connection with FIGS. 2-7.

[0078] The control unit 100 supplies electrical power and signal lines (collectively, electrical lines) and pneumatic control lines to the effector 20. The electro-pneumatic distribution unit 100 is preferably housed, as shown, in a base providing seating and support for the robotic arm 40 on which the effector 20 is mounted. However, the electro-pneumatic distribution unit 100 may be provided in any apparatus whose connection 50 to a harness 220 to the effector 20 disposed close to the shoulder joint 30 of the robotic arm 40.

[0079] The harness-slack management system 200 prevents the harness 220 connecting the electro-pneumatic distribution unit 100 and the effector 20 from contacting workpieces and other parts of the work area, as well as from interfering with the robotic arm 40 and effector 20 themselves during robotic operation. The system 200 provides different kinds of support to the harness 220 in three places. In each place, the support minimizes interference, appropriate to the motion of the harness 220 in that place.

[0080] The robot-effector adapter 300 includes two separate parts: a robotic-arm portion 305 fixed to the end of the robotic arm 40 and to which the harness 220 is connected, and an effector portion 310 fixed to the effector 20. When so fixed, robot-effector adapters 300 provide universal mechanical fit and interchangeability of the robotic arm 40 with various effectors 20. Furthermore, the robot-effector adapter 300 completes the pneumatic and electrical connections (from the electro-pneumatic distribution unit 100 and through the harness 220) to the effector 20.

[0081] The effector rack 500 includes a plurality of effector docks 505 mounted on a structure 502. The multiple docks 505 enabling simplified storage, selection, and interchange of a plurality of effectors 20. Each effector dock 505 may comprise a dock sensor 503, for indicating to a main robotic controller whether an effector dock 505 is occupied by an effector 20.

[0082] To remove and dock an effector 20, the effector rack 500 is configured to grasp the effector part 315 and cause separation of the robotic-arm part 305 from the effector part 315, in order to remove and dock an effector 20. Conversely, the rack causes an effector part 315 of an effector 20 in a slot to engage with the robotic arm part 305. In such a manner, the rack 500 provides automatable exchange between several effectors 20 on the robotic arm 40.

[0083] In order for the robotic-arm part 305 to dock and disengage, or to engage and undock, an effector part 315, the robotic arm 40 is programmed to move the robotic-arm interface 305 as required for engaging a docked effector part 315 or docking and disengaging from an effector part 315, as further described herein. Alternatively, docking and disengagement, as well as engagement and undocking, may be performed manually.

[0084] A spring-loaded member is a rigid piece that imparts an opposing force when displaced. The spring effect on the piece may be provided by any opposing-force means known in the art, such as a coil spring, a strip of flexible material, a pneumatic spring, etc. In the present invention, a spring-loaded member is displaced by an external force and is shaped at least partially by a wedged surface, as further described herein.

[0085] Robot-effector adapter is a standardized arrangement for interchangeably connecting different types of robotic end-of-arm effectors (e.g., grippers) to the end of a robotic arm. A robot-effector adapter comprises a robotic-arm interface, fixed to the end of a robotic arm, and an effector interface, to which an effector is fixed. To attach an effector to a robotic arm, the robotic-arm interface is engaged with the effector interface, by a clenching mechanism further described herein. Note that the terms engaged and disengaged are used herein in a transitive sensethe robotic-arm interface disengages is disengaged from the effector interface; as well as in a reflexive sensethe robot-effector adapter engages is engaged. In all cases, which sense of meaning is clear from the context.

[0086] Reference is now made to FIGS. 2A and 2B, showing a control unit 100 to a robotic effector, according to some embodiments of the invention.

[0087] A connector 105 (or a plurality of input connectors) is configured for connecting one or more pneumatic control signals and at least one electrical feedthrough lead to an effector. A solenoid inside the unit 100 control the air pressure from the input air channel 110 to a pneumatic line 115 to the effector 20. If there is more than one pneumatic line 115, a manifold inside the unit distributes air from the channel 110 to the pneumatic lines. A connector 117 provides for connection of the pneumatic lines 115 and the electrical feedthrough leads, via a mating connector 205 at one end of a harness 220 (see FIGS. 3A and 3B).

[0088] The electrical feedthrough leads may comprise signal and/or power one or more sensors of the effector. For example, binary sensors indicating whether or not an element of the effector is in a particular position.

[0089] The control unit 100 may be configured seat and support a robotic arm 40. The control unit 100 may have indicator lights 125. For example, indicating by color whether a robotic system is stopped, waiting, in action, or faulty. The indicator lights 125, which can be LEDs, may be placed around the perimeter of the unit 100. The indicator lights 125 may be seen by operators from a distance, and, being highly visible from all directions, even by an operator presently at another station.

[0090] Reference is now made to FIGS. 3A and 3B illustrating alternative locations of pivotal harness hangers 35 and 35a. Additionally, harness hanger 34 comprises clamp 230 secured on robotic arm member 255, a clamp 235 immovably secured to harness portion 220 and spring 225 interconnecting clamps and 230 and 235. Spring 225 retightens harness 220 and prevents it from slacking according to momentary geometry of the articulated robotic arm.

[0091] Referring to harness hanger 36, clamp 215 is secured on robotic arm member 255. Harness portion 220 is freely movable in guiding ring 210 such that displacement of harness portion 220 is not hindered by harness hanger 36.

[0092] Reference is now made to FIG. 4, presenting a schematic diagram of a harness hanger pivotally secured to an end member of a robotic arm. The robotic arm comprises a sequence of members jointly connected to each other (not shown). Numerals 20 and 10 refer to an end member of the robotic arm and a previous member in the aforesaid robotic arm, respectfully. Middle portion 23 of end member 20 is jointly connected to previous member 10 and angularly movable relative to it in an exemplary direction shown by arrow 51. End member 20 is configured for quick-connecting effector 40 at terminal 21. Effector 40 is rotatable by rotational drive 29. Effector 40 is rotatable around axis 27. According to one embodiment of the present invention, rotational drive 29 (for example, an electric motor) is mounted within end member 20 in a coaxial member. Rotatable hanger 35 is pivoted on axis 27. Rotatable hanger 35 holds harness connectable to effector 40. Numerals 31 and 33 refers to the proximal and distal portion of harness held by rotatable hanger 35.

[0093] Rotatable hanger 35 is freely rotatable around axis 27. In this case, the tensile force applied to distal portion 33 of the harness is significantly reduced in comparison with fixed securement of the harness to end member 20.

[0094] A robot-effector adapter enables mechanical connection of a pneumatic robotic effector to a robotic arm. The robot-effector adapter comprises a robotic-arm partconnected to a robotic armand an effector part connected to a pneumatic robotic effector. When the robotic-arm part and the effector part are engaged, one of the parts is seated against the other, as further described herein. The shapes of the parts are matched so that the seating forms a contact surface-preferably but not necessarily flat-between the robotic-arm part and the effector part. Both parts include one or more pneumatic feedthroughs-upper pneumatic feedthroughs of the robotic-arm part and lower pneumatic feedthroughs of the effector part. The upper and lower pneumatic feedthroughs meet at the contact surface of the seated parts.

[0095] The robot-effector adapter further comprises one or more spring-loaded members. The spring-loaded members are part of a clenching mechanism comprising pairs of mateable wedged surfaces: one wedged surface of each pair is on the spring-loaded mechanism, which can be mounted on either the robotic arm part or the effector part, and the other wedged surface is on the other part (the one not containing the spring-loaded mechanism).

[0096] To engage a robotic arm part with an effector part, the spring-loaded members are compressed. In some embodiments, the compression made by applying a force externally to the adapter. The two parts are seated and then, upon release of the spring-loaded members, the reverse forces of the spring-loaded members cause the mateable wedged surfaces to grasp each other, thereby applying a compressive force on the seated parts, such that the two parts are pressing each other at the contact surface, thereby impinging on O-rings or gaskets at the contact surface, at the nexus of the upper and lower feedthroughs, and thereby providing an airtight seal between the pneumatic feedthroughs of the robotic-arm part and the pneumatic feedthroughs of said effector part.

[0097] Reference is now made to FIGS. 5A and 5B, showing exploded views of a robot-effector adapter 300, according to some embodiments of the invention. The robot-effector adapter 300 contains a robotic-arm part 305, including an electro-pneumatic shoe connector 310, and an effector part 315. The robotic-arm part 305 is fastened to the end of a robotic arm 40 (shown in FIG. 1) and the effector part 315 is fastened to an effector 20.

[0098] When the robotic-arm part 305 is assembled, as shown in FIG. 5C, the shoe connector 310 is seated and fastened in a connector cavity 340 (most evident in FIG. 4B) of the robotic-arm part 305. Preferably, fastening of the shoe connector 310 to the rest of the robotic-arm part 305 is performed during production of the robot-effector adapter 300, whereby the robotic-arm part 305 is provided to the user assembled with the shoe connector 310 and the harness 220.

[0099] The shoe connector 310 terminates the harness 220 (shown in FIG. 1). The shoe connector 310 has upper feedthroughs-including upper air channels 357 and an upper electrical connector 350for pneumatic lines 355 and electrical lines 345 to the effector 20. When the robotic-arm part 305 and the effector part 315 are engaged, the upper feedthroughs are in connection with lower feedthroughs-including lower air channels 375 and a lower electrical connector 360of the effector part 315, as further described.

[0100] The robotic-arm part 305 includes the spring-loaded members, comprising opposing spring-loaded latches 330. The latches 330 are compressed and released during engagement and disengagement, as further described. On the sides of the latches 330 are shoulders 335. The shoulders 335 have wedged surfaces 337, on the proximal sides of the shoulders 335. Preferably, the surface 337 is wedged at an angle in the range of about 5-15. More preferably, the wedge angle is about 10.

[0101] The effector part 315 includes a rim 363. (In the embodiment shown in FIGS. 5A and 4B, the rim 363 is in four segments around the effector part 315.) The rim 363 defines an area for seating of the robotic arm part 305 against the effector part 315. The rim 363 includes wedged undercuts 365 near opposite sides of the perimeter of the effector part 315. The undercuts 365 are positioned mirroring the wedged surfaces 337 of the robotic-arm part 305. The undercuts 365 are wedged at an equal and opposite angle to the wedged shoulder surfaces 337.

[0102] To engage the robotic-arm part 305 with the effector part 315, a user or a suitable mechanism compresses the spring-loaded latches 330; seats the robotic-arm part 305 against the effector part 315; and then releases the latches 330. Upon releasing of the latches 330, the spring forces therefrom cause the wedged undercuts 365 to grasp the wedged shoulder surfaces 337, thereby compressing the robotic-arm part 305 against the effector part 315. O-rings 359, disposed around air channels 357 on the sole of the shoe connector 310, are consequently compressed around air channels 375 of the effector part 315. The compressed O-rings 359 thereby seal the upper and lower pneumatic feedthroughs to the effector 20. Alternatively, or in addition, one or more of the O-rings 359 are disposed around the air channels 375 of the effector part 315.

[0103] Electrical feedthrough is established by mating of electrical contact pads 350 of the shoe connector 310 and electrical spring contacts 360 of the effector part 315. Preferably, the shoe connector 310 contains the spring pins and the effector part 315 contains the electrical contact pads; however, the reverse is also possible: the shoe connector 310 can contain electrical contact pads and the effector part 315 can contain electrical spring pins. The electrical contacts can include an effector encoder, enabling a controller to identify or verify the effector 20 connected to the robotic arm 40. The effector encoder can be jumpered within the effector part 315 or at the effector 20 itself. The electrical contacts can include connections to power and signal lines of one or more sensors (not shown), such as an effector status sensor that indicate the present position of manipulators of the effector (e.g., indicate the open and closed statuses of fingers of a gripper). There could be a sensor to detect that the robot-effector adapter 300 is fully engaged, with the latches 330 released to the proper extent. The electrical contacts may also include power and/or signal lines to an effector 20 that has electrical power or control requirements. The control unit is configured for recognizing the effector connected to the robotic arm via the aforesaid signal lines.

[0104] Disengagement is achieved by compressing the latches 330, thereby releasing the shoulders 335 from the wedged undercuts 365, and then pulling apart the effector part 315 and the robotic-arm part 305.

[0105] The effector part 315 may have fork openings 385 on opposite sides, for holding the effector part 315 while it is docked, as further described herein.

[0106] Pushbuttons 320, 325 alongside the robotic-arm adapter 305 may be used to activate various functions. For example, one pushbutton 320 may active a free-drive mode of the robotic arm 40 (see FIG. 1), enabling an operator to freely drag the robot to a different position and orientation. Another pushbutton 325 may be used to place the robotic arm in a teaching mode, whereby a controller records and stores the position and orientation for later use.

[0107] Reference is now also made to FIG. 6A, showing an exploded view of an alternative implementation of robot-effector adapter 400, according to some embodiments of the invention. The robot-effector adapter 400 contains a robotic-arm part 405, and an effector part 415. The robotic-arm part 405 is fastened to the robotic-arm end 407 and the effector part 415 is fastened to a robotic effector (not shown in FIG. 5).

[0108] The robotic-arm part 405 has an electro-pneumatic connector socket 410. A mating electro-pneumatic connector plug 412 terminates the harness 220 (shown in FIG. 3). The robotic arm adapter 405 has upper feedthroughs-including upper air channels and upper electrical connectors (not shown)for pneumatic lines and electrical lines to the effector. When the robotic-arm part 405 and the effector part 415 are engaged, the upper feedthroughs are in electrical and sealed pneumatic connection with lower feedthroughs-including lower air channels and a lower electrical connector (not shown)of the effector part 415, as further described.

[0109] The robotic-arm part 405 includes opposing spring-loaded latches 430. The latches 430 are compressed and released during engagement and disengagement, as further described. On the sides of the latches 430 are shoulders 435. The shoulders 435 have wedged surfaces 437, on the proximal sides of the shoulders 435. Preferably, the surface 437 is wedged at an angle in the range of about 5-15. More preferably, the wedge angle is about 10.

[0110] The effector part 415 includes a rim 463. (In the embodiment shown in FIG. 5A, the rim 463 is a collar with openings for the latches 430 and connectors 410, 412.) The rim 463 defines an area for seating of the robotic arm part 405 against the effector part 415. The rim 463 includes wedged undercuts 465 near opposite sides of the perimeter of the effector part 415. The undercuts 465 are positioned mirroring the wedged surfaces 437 of the robotic-arm part 405. The undercuts 465 are wedged at an equal and opposite angle to the wedged shoulder surfaces 437.

[0111] To engage the robotic-arm part 405 with the effector part 415, a user or a suitable mechanism compresses the spring-loaded latches 430; seats the robotic-arm part 405 against the effector part 415; and then releases the latches 430. Upon releasing of the latches 430, the spring forces therefrom cause the wedged undercuts 465 to grasp the wedged shoulder surfaces 437, thereby compressing the robotic-arm part 405 against the effector part 415. O-rings 459, disposed around air channels on the sole of the shoe connector 410, are consequently compressed around air channels 475 of the effector part 415. The compressed O-rings 459 thereby seal the upper and lower pneumatic feedthroughs to the effector 480. Alternatively, or in addition, one or more of the O-rings 459 are disposed around the air channels 475 of the effector part 415.

[0112] For the grasping, the mating of the wedged shoulder surfaces 437 and wedged undercuts 465 can be flush (surface-against-surface contact), but preferably one of each of the mating pairs of surfaces is rounded, so that the mating is made along a contact path rather than a contact surface.

[0113] Electrical feedthrough is established by mating of electrical contact pads of the robotic-arm part 405 and electrical spring contacts of the effector part 315 (electrical spring contacts and pads not shown in FIG. 6A). Preferably, the robotic-arm part 405 contains the spring pins and the effector part 415 contains the electrical contact pads; however, the reverse is also possible: the robotic-arm part 405 can contain electrical contact pads and the effector part 415 can contain electrical spring pins. The electrical contacts can include an effector encoder, enabling a robot controller to identify or verify the effector 20 connected to the robotic arm end 407. The effector encoder can be jumpered within the effector part 415 or at the effector 20 itself. The electrical contacts can include connections to power and signal lines of one or more sensors (not shown), such as an effector status sensor that indicate the present position of manipulators of the effector (e.g., indicate the open and closed statuses of fingers of a gripper). There could be a sensor to detect that the robot-effector adapter 400 is fully engaged, with the latches 430 released to the proper extent. The electrical contacts may also include power and/or control lines to an effector that has electrical power or control requirements. Connection of harness 220 (FIG. 1) to effector part 405 is provided by plug-and-socket 412.

[0114] Disengagement is achieved by compressing the latches 430, thereby releasing the shoulders 435 from the wedged undercuts 465, and then pulling apart the effector part 415 and the robotic-arm part 405.

[0115] Reference is now made to FIG. 6b presenting the effector part 415 which may have fork openings 485 on opposite sides, for holding the effector part 415 while it is docked, as further described herein.

[0116] While two different embodiments of robot-effector adapter 300, 400 are described herein, it is nevertheless understood that the embodiments can be interchangeable with each other. For example, where one of the embodiments of robot-effector adapter is shown in conjunction with other elements of a system, it is possible to interchange the robot-effector adapter shown with another embodiment of robot-effector adapter in the system.

[0117] It is further understood that the disposition of the wedged surfaces may be transposed from that described, i.e. the latches 330, 430 (with shoulders 335, 435 having wedged surfaces) can be on the effector part 315, 415 and the undercuts 365, 465 can be on the robotic-arm part 305, 405.

[0118] Reference is now also made to FIGS. 7A-7C, showing an exemplary effector bracket 528 which can be a part of the effector rack 500 shown in FIG. 1in different stages of docking and undocking, according to some embodiments of the invention. The arrowheads indicate motion directions of the adapter part 400 and stage progressionsthe lightly shaded arrowheads for docking and disengagement and the darkly shaded arrowheads for engagement and undocking. In some embodiments, docking of an effector part 415 and disengagement from the robotic-arm part 405as well as engagement and undockingmay be performed automatically, by the robotic arm 40 moving the robotic-arm part 405, or may be performed manually.

[0119] The effector dock 505 has a fork support 510, with one or more prongs. In the embodiment of FIGS. 7A-7C, the fork support 510 has a recess 527 with edges 526 oriented in first direction B. However, the bracket 510 may alternatively comprise, for example, skewers, rods, pegs, hooks, or any combination thereof. According to some embodiments, the effector part 405 has fork openings 485 (shown in FIG. 6B) fit for the bracket 510 to slide through. The bracket 510 may have tapered front edges 512 to facilitate entry of the fork support 510 into the fork openings 485.

[0120] Along the inner side walls 517 of the effector dock 505 are wall constrictions 515. In the embodiment shown, the wall constrictions 515 are sloped surfaces in the aforesaid first direction of docking effector part. Alternatively, a wall constriction 515 may be a sudden step in the distance between the inner side walls 517, as in the case, for example, the adapter latches 430 are sloped (much like latch tongues used to close doors) in the first direction. According to one embodiment of the present invention, the first direction (docking direction) is horizontal or slightly inclined to the ground line such that the effector part is gravitationally secured in bracket 510.

[0121] Disengaging the effector part 415 from the robotic-arm part 405 and docking the effector part 415 is performed by the following steps: Beginning at FIG. 7A, the fork support 510 is slid e.g., by motion of the effector part 415, moved by the engaged robotic-arm part 405 attached to the robot arm-into the fork openings 485 (see FIG. 6B) of the effector part 415. As the spring latches 430 of the robotic-arm part 405 pass between the inner side walls 517 of the dock 505, the wall constrictions 515 compress the spring latches 430. With the spring latches 430 compressed, the wedged shoulder 435 of the robotic-arm part 405 is ungrasped from wedged undercut 465 of the effector part 415 (see FIG. 7A). The robotic-arm part 405 is thereby freed to retract from the effector dock 505. The effector part 415 is left in the dock 505, supported by the fork support 510.

[0122] In some embodiments, the effector dock 505 further comprises a rear wall 520. The rear wall 520 provides for seating of the effector part 415. For optimal seating, the rear wall 520 preferably has the same inner shape as the outer shape of the effector part 415.

[0123] Since the effector dock 505 is mounted at a tilted angle in the rack 500 (see FIG. 1; vertical mounting is also possible), the effector part 415 is held steadily in the dock 505 simply by gravity; no locking mechanism is required to secure the effector part 415 in the dock. However, optionally a locking mechanism is provided, with the dock 505 optionally mounted horizontally in the rack 500.

[0124] Engaging the robotic-arm part 405 with a docked the effector part 415 is performed by the following steps: Beginning at FIG. 7C, the robotic-arm part 405 approaches the docked effector part 415 along second direction B. As the spring latches 430 of the robotic-arm part 405 pass the constrictions 525, the inner side walls 517 compress the spring latches 430. With the spring latches 430 compressed, the wedged shoulders 435 of the robotic-arm part 405 is positioned for clenching the wedged undercut 465 of the effector part 415 (see FIG. 7A). The clenching and ensuing engagement is affected by sliding the effector adapter 415 out of the dock 505 past the wall constrictions 515. The entire effector adapter 400 is thereby freed from the dock 505 and the effector 20 is ready for action. According to one embodiment of the present invention, directions A and B are orthogonal to each other, but any angle therebetween is in the scope of the present invention.

[0125] The robotic-arm part 405 is then seated against the effector part 415. The robotic-arm part 405 seated in the effector part 415 slides out of the U-shaped recess. As the spring latches 430 pass the angled wall guides 515, the spring latches 430 are released and the robotic-arm part 405 is engaged with the effector part 415. The effector part 415 slides off of the fork support 510. The effector 20, now attached to the end of the robotic arm 40, is ready for action.

[0126] Reference is now made to FIG. 8A. In another aspect of the invention is provided a two-lever stroke extending mechanism 700. In a typical application, the two-lever stroke extending mechanism 700 moves a tray module 705 into position from a tray magazine 710 to a tray table 715, and vice versa. The two-lever stroke extender mechanism 700 improves compactness of a universal linear drive.

[0127] The solution is schematized in FIG. 8B. The two-lever stroke extending mechanism 700 includes one or more lever arms 745 pivoting on a carriage 720, as further described herein. As the carriage 720 traverses its travel distance, pivoting of the lever arms 745 increase the stroke at the ends of the lever arms 745 beyond the carriage travel distance, as further described herein. The traversal, pivoting, and extended stroke is seen at the intermediate 745 and opposite 745 positions of the carriage 720.

[0128] Reference is now made to FIGS. 8C and 8D, showing exploded and assembled views of the two-lever stroke extending mechanism 700 according to some embodiments of the invention.

[0129] The action of a motor 730 translates a primary carriage 720, along a translation mechanism 725typically a lead screw 727, rotated by the motor 730, and supporting rods 728over a translation distance of travel. A secondary carriage 740 is slidable along a secondary translation mechanism 735, typically a rod. Two lever arms 745 are pivoted to the secondary carriage 740 by lever-arm bearings 750, near the inner ends of the lever arms 745. Mechanical linkages 760 are disposed at the outer ends of the lever arms 745. The lever arms 745 each have a lever-arm slot 755, disposed longitudinally along the lever arm 745. Primary pivots embodied as bearings 722 disposed on the primary carriage 720 are insertable into the lever-arm slots 755, and direct lever arm 745 during operation of the stroke extending mechanism 700.

[0130] The stroke extending mechanism 700 operates as follows: the motor 730 causes translation of the primary carriage 720. Translation of the primary carriage 720 over its travel distance causes the guide bearings 722, inserted in the lever-arm slots 755, to 1) translate the secondary carriage 740 along the secondary translation mechanism 735, by an amount substantially equal to the carriage travel distance; and 2) cause the lever arms 745 to pivot about the lever-arm bearings 750. Optionally, the carriages are spring-loaded for returning into their default positions.

[0131] The pivoting of the lever arms 745 add to the translation of the towing elements 760. The mechanical linkages 760 are therefore translated, in the direction of carriage translation, by an extended stroke amount exceeding carriage travel distance. The towing elements 760 thereby translate their payload (e.g., a tray mechanism 705) by the extended stroke amount. Numeral 746 refers to a tray to be transported.

[0132] Stoppers 765 may be mounted on one or both ends of the secondary carriage 740, in order to limit the pivoting of the lever arms 745 to a maximum angle.

[0133] Reference is now made to FIG. 8E illustrating an embodiment of the invention; a link 762 configured with slots, pins and towing features is introduced between towing elements 760 and tray 746. This link moves only on one axis, compared to towing elements 760 moving on 2 axes.

[0134] Reference is now made to FIG. 8F presenting an alternative embodiment 700b of the stroke extending mechanism having one lever and operating in a similar manner with embodiment 700.

[0135] Reference is now made to FIGS. 9A and 9B, showing perspective and profile views, respectively, of an I-profile extrusion rail 800 according to some embodiments of the invention. FIGS. 9C and 9D show perspective and profile views, respectively, of an C-profile extrusion rail 800a. On one side of a flange, the rail has a half-V profile 805. The flange opposite to half-V profile is provided with a groove 821 with first flat edge 803a adjoining to said middle portion and second half-V-shaped edge 803b. The rail is typically made of extruded aluminum and cut, but can be made of any material and by any suitable manufacturing method. Two rails 800, 800 are fastenable in two different modes, depending on how they are used in supporting two plate modules 810, 810. FIG. 9E shows two rails 800, 800 undergirding two plate modules 810, 810. A top-clamping mechanism 820 clamps together the rails 800, 800 together and fastens the modules 810, 810 to the rails 800, 800, as further described herein. FIG. 9F shows two rails 800, 800 clamped together with a side-clamping mechanism, as further described herein, serving as a leg supporting two plate modules 810, 810 (such a leg may be used to support any types of mechanical modules).

[0136] Reference is now made to FIG. 9G, showing a top-clamping mechanism 820, according to some embodiments of the invention. The design of the top-clamping 820 mechanism is based on principles of an interlocking connection arrangement described in PCT/IL2021/050032, incorporated herein by reference. The top-clamping mechanism comprises an interlocking insert 822, a top-clamp screw 824, and a V-clamp nut 826.

[0137] Reference is now made to FIG. 9F, showing two plate modules 810, 810, two rails 800, 800 undergirding the plate modules 810, 810, and a top-clamping mechanism 820 arranged for clamping. The interlocking insert 822 is inserted in an opening of two facing recesses 812, 812 of the plate modules 810, 810. The opening has substantially the same interlocking shape as the interlocking insert 822 (as viewed from the top). Recesses 812 of the present type, and/or recesses as described in PCT/IL2021/050032, may be arrayed in a grid on the edges of a plate module 810, to accommodate multiple interlocking inserts 822 of the present type or inserts as described therein. The interlocking insert 822 preferably has a counterbore, as shown in FIG. 9H, in order for the head of the top-clamp screw 824 to clear the top surface of the plate modules. The top-clamp screw 824 extends downward from the interlocking insert 822, passing through a bore formed from two cutouts 814, 814 of the plate modules. The top-clamp screw 824 is fastened into the V-clamp nut 826, which is disposed in the cavity formed by the profile of the two rails 800, 800 with the half-Vs 805, 805 facing.

[0138] FIG. 9I shows that when the top-clamp screw 824 is tightened, the V-clamp nut 826 impinges on the two half-Vs 805, 805, clamping the two rails 800, 800 together. Additionally, the plate modules 800, 800 and the top flanges, containing the half-Vs 805, 805 of the rails 800, 800 are tightly sandwiched between the interlocking insert 822 and the V-clamp nut 826. The two rails 800, 800 and the two plate modules 810, 810 are thereby tightly clamped together by the top-clamping mechanism 820.

[0139] Reference is now made to FIG. 9J presenting a side view of a nut having a pledge inserted into a groove of a I-shaped rail. During securing one extrusion profile article 800a to another (not shown), it is helpful to keep nut 826a secured to article 800a. As disclosed above, article 800a is provided with groove 803. Nut 826a has ledge 821 shaped conformally to groove 803 such that ledge 821 is insertable into groove 803. Nut 826 is provided with spring plunger 823. Its function is in keeping nut 826a within groove 803 in an untightened position. Tightening screw 824 in nut 826a forces spring plunger 823 to be compressed and releasing nut 826a from groove 803. In other words, nut 826a is pulled to half-V flanges 805 similar to the position of nut 826 in FIG. 9I.

[0140] Reference is now made to FIGS. 10A and 10B, showing a jack clamp 830, according to some embodiments of the invention. The jack clamp 830 comprises a jack-clamp screw 840 and four trapezoidal elements: a V-clamp platform 832, a base 834, a threaded wedge 836, and a bored wedge 838. When the jack screw 840 is tightened, the bored wedge 838 and threaded wedge 836 approach each other. The approach causes the V-clamp platform 832 and base 834 to space apart, as shown in FIG. 10B. (The jack-clamp screw 840 can be of a captive type, with a retaining ring 842 near the tip, in order prevent the elements of the jack clamp 830 from separating.)

[0141] Reference is now made to FIG. 10C presenting an isometric exploded view of a second embodiment of clamping mechanism 830. The aforesaid clamping mechanism further comprises guiding rods 831 defining displacement of upper bearing member 832 relative to lower bearing member 834. Springs sitting on guiding rods 831 support the upper bearing member 832 and facilitates contraction of upper bearing member 832 relative and lower bearing member 834.

[0142] Reference is now made to FIG. 10D. jack clamp 830 is disposed in the cavity formed by the profile of the two rails 800, 800 with the half-Vs 805, 805 facing.

[0143] When the jack-clamp screw 840 is tightened, as shown in FIG. 10E, the V-clamp platform 832 impinges on the half-V profiles 805, 805 and the base 834 (seen in FIGS. 8G and 81) impinges on a floor of the cavity, clamping the rails 800, 800 together.

[0144] At the end of the rails may be placed one or more mounting holes 844, for attaching a rail 800 (e.g., to be used as a leg) to a module 810.