Robotic end effector system and method

Abstract

A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.

1 . A robotic end effector apparatus for use with a multi-axis robot having a movable wrist, the apparatus comprising:
 a connector removably attached to the robot wrist; and   an end effector removably engageable with the connector, the end effector having a tool operable on a work piece.   
     
     
         2 . The device of  claim 1  wherein the end effector further comprises a controller mounted to the effector and a motor in electronic communication with the controller for imparting movement of at least one component of the tool for use on the workpiece. 
     
     
         3 . The device of  claim 1  wherein the controller includes a microprocessor and memory storage, the controller is in electronic communication with at least one other controller for the electronic receipt by the effector controller of data specific to the effector. 
     
     
         4 . The apparatus of  claim 2  wherein the end effector further comprises:
 a fluid applicator comprising:   a replacable canister defining a chamber at least partially containing fluid and having a nozzle in fluid communication with the chamber,   a receptacle adapted to receive the canister; and   a plunger operable to force fluid from the chamber.   
     
     
         5 . The apparatus of  claim 4  wherein the controller is in electronic communication with a motor in driving engagement with the plunger, wherein on a selective activation signal from the controller, the motor drives the plunger to force fluid from the canister chamber through the nozzle. 
     
     
         6 . The apparatus of  claim 4  wherein the receptacle includes an open trough defining a cavity for receipt of the canister in the cavity, the receptacle further defining an end wall having an aperture for through receipt of the canister nozzle for orientation of the nozzle in a direction toward the workpiece. 
     
     
         7 . The apparatus of  claim 4  further comprising at least one sensor in electronic communication with the effector controller for active monitoring a fluid bead exiting the canister nozzle. 
     
     
         8 . The apparatus of  claim 4  wherein the canister further comprises a backplate in communication with the chamber, the backplate further having a needle extending into the chamber oriented toward the nozzle, wherein on movement of the backplate toward the needle, the needle enters at least a portion of the nozzle to force additional fluid from the chamber through the nozzle. 
     
     
         9 . The apparatus of  claim 4  further comprising a tray for holding a plurality of canisters proximate the end effector, the tray adapted to release the canisters through engagement of the end effector with at least one of the canisters. 
     
     
         10 . The apparatus of  claim 4  further comprising a cutter positioned proximate the end effector, the cutter operable to remove a selected portion of the canister nozzle. 
     
     
         11 . The apparatus of  claim 1  wherein the end effector tool is one of a welding gun and a clamping fixture. 
     
     
         12 . The apparatus of  claim 1  wherein the connector further comprises:
 a plate connected to the robot wrist;   a socket connected to the plate, the socket in communication with at least one service line from the robot wrist;   a plug connected to the end effector in communication with at least one service line of the end effector, wherein on engagement of the end effector to the plate, the effector plug engages the socket for communication of the at least one service line from the robot wrist to the service line of the end effector.   
     
     
         13 . The connector of  claim 12  wherein the plate further comprises at least one bracket having a slot for adapted sliding receipt of a stud connected to the end effector for removable engagement of the end effector with the plate. 
     
     
         14 . The connector of  claim 13  wherein engagement of the end effector to the connector does not substantially alter at least one of the center of gravity or the tool center point of the end effector. 
     
     
         15 . A quick-release connector for use in connecting a robot having a movable wrist to a selected end effector, the connector comprising:
 a plate connected to the robot wrist;
 a socket connected to the plate, the socket in communication with at least one service line from the robot wrist; 
 a plug connected to the end effector in communication with at least one service line of the end effector, wherein on engagement of the end effector to the plate, the effector plug engages the socket for communication of the at least one service line from the robot wrist to the service line of the end effector. 
   
     
     
         16 . The connector of  claim 15  wherein the plate further comprises at least one bracket having a slot for adapted sliding receipt of a stud connected to the end effector for removable engagement of the end effector with the plate. 
     
     
         17 . The connector of  claim 15  wherein engagement of the end effector to the connector does not substantially alter at least one of the center of gravity or the tool center point of the end effector. 
     
     
         18 . A method of rapidly attaching an end effector useful on a workpiece from operable engagement with a robot having a movable wrist and at least one service line extending from the wrist, the method comprising the steps of:
 identifying the work to be done on the workpiece;   selecting one of a plurality of end effectors having at least one service line;   engaging the end effector to the robot wrist such that the service line of the robot wrist is in communication with the end effector service line.   
     
     
         19 . The method of  claim 18  further comprising the step of establishing electronic communication between a controller mounted on the end effector with at least one controller not mounted to the end effector. 
     
     
         20 . The method of  claim 19  further comprising the step of actuating electronic instructions specific to the selected end effector for use on the workpiece.