U.S. patent application number 17/522456 was filed with the patent office on 2022-05-05 for robotic processing system.
The applicant listed for this patent is HIGHRES BIOSOLUTIONS, INC.. Invention is credited to Nigel COCHRAN, Ulysses GILCHRIST, Paul HARPER, Blaine STEVENSON.
Application Number | 20220134582 17/522456 |
Document ID | / |
Family ID | |
Filed Date | 2022-05-05 |
United States Patent
Application |
20220134582 |
Kind Code |
A1 |
COCHRAN; Nigel ; et
al. |
May 5, 2022 |
ROBOTIC PROCESSING SYSTEM
Abstract
A robotic transport system including a drive section connected
to a frame, an articulated arm operably coupled to the drive
section providing the articulated arm with arm motion in at least
one axis of motion moving at least a portion of the articulated arm
in a collaborative space, corresponding to the frame, from a first
location to another different location in the collaborative space,
the articulated arm having an end effector with a workpiece grip
having workpiece engagement members engaging and holding a
workpiece during workpiece transport, by the arm motion in the at
least one axis of motion, wherein at least one of the workpiece
engagement members is frangible compliant, having a frangible
compliant coupling between a distal portion of the at least one of
the workpiece engagement members and a base portion of the end
effector from which the at least one of the workpiece engagement
members depends.
Inventors: |
COCHRAN; Nigel; (Medford,
MA) ; GILCHRIST; Ulysses; (Reading, MA) ;
STEVENSON; Blaine; (Woburn, MA) ; HARPER; Paul;
(Shropshire, GB) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HIGHRES BIOSOLUTIONS, INC. |
Beverly |
MA |
US |
|
|
Appl. No.: |
17/522456 |
Filed: |
November 9, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15689986 |
Aug 29, 2017 |
11167434 |
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17522456 |
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62381400 |
Aug 30, 2016 |
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International
Class: |
B25J 19/06 20060101
B25J019/06; B25J 15/02 20060101 B25J015/02; B25J 15/04 20060101
B25J015/04 |
Claims
1. A robotic transport system comprising: a frame; a drive section
connected to the frame; an articulated arm operably coupled to the
drive section providing the articulated arm with arm motion in at
least one axis of motion moving at least a portion of the
articulated arm in a collaborative space, corresponding to the
frame, from a first location to another different location of at
least the portion of the articulated arm in the collaborative
space; the articulated arm having an end effector with a workpiece
grip having workpiece engagement members engaging and holding a
workpiece during workpiece transport, by the arm motion in the at
least one axis of motion; wherein at least one of the workpiece
engagement members is frangible compliant, having a frangible
compliant coupling between a distal portion of the at least one of
the workpiece engagement members and a base portion of the end
effector from which the at least one of the workpiece engagement
members depends.
2. The robotic transport system of claim 1, wherein the at least
one of the workpiece engagement members is frangible compliant so
that the at least one of the workpiece engagement members breaks
away from the end effector during unintended contact between the at
least one of the workpiece engagement members and an obstruction in
the arm motion in the at least one axis of motion of the
articulated arm.
3. The robotic transport system of claim 2, wherein the at least
one of the workpiece engagement members breaks away from the end
effector during unintended contact with an obstruction in each axis
of the arm motion in at least one axis of motion of the articulated
arm.
4. The robotic transport system of claim 1, wherein the at least
one of the workpiece engagement members is frangible compliant so
that the at least one of the workpiece engagement members breaks
away from the end effector at the frangible compliant coupling
during unintended contact with an obstruction in arm motion in each
axis of the at least one axis of motion of the articulated arm.
5. The robotic transport system of claim 1, wherein the frangible
compliant coupling has as a frangible interface between a coupling
portion of the base portion of the end effector and a mating
coupling portion of the at least one of the workpiece engagement
members.
6. The robotic transport system of claim 1, wherein the frangible
compliant coupling is configured so that the at least one of the
workpiece engagement members is substantially rigid relative to the
base portion of the end effector with respect to each axis of the
arm motion in at least one axis of motion of the articulated
arm.
7. The robotic transport system of claim 1, wherein the frangible
compliant coupling has a workpiece engagement member interface with
deterministic features repeatably positioning the at least one of
the workpiece engagement members with respect to predetermined
reference datum of the articulated arm.
8. The robotic transfer system of claim 7, wherein the
predetermined reference datum of the articulated arm is aligned
with a workpiece transport plane defined in part by the arm motion
in at least one axis of motion.
9. The robotic transfer system of claim 7, wherein the frangible
compliant coupling deterministic features define a snap on
engagement interface mating with complementing features of the at
least one of the workpiece engagement members.
10. The robotic transfer system of claim 1, wherein the at least
one of the workpiece engagement members is frangible compliant so
that break away from the base portion of the end effector complies
with at least one of ANSI R 15.06 standards, ISO 10218-1 standards,
or ISO/TS-15066 standards.
11. A method comprising: providing a drive section connected to a
frame of a robotic transport system; providing an articulated arm
having an end effector with a workpiece grip having workpiece
engagement members, the articulated arm operably coupled to the
drive section providing the articulated arm with robot motion in at
least one axis moving at least a portion of the articulated arm in
a collaborative space, corresponding to the frame, from a first
location to another different location of at least the portion of
the articulated arm in the collaborative space; engaging and
holding a workpiece with the workpiece engagement members during
workpiece transport, by the arm motion in the at least one axis of
motion; wherein at least one of the workpiece engagement members is
frangible compliant, having a frangible compliant coupling between
a distal portion of the at least one of the workpiece engagement
members and a base portion of the end effector from which the at
least one of the workpiece engagement members depends.
12. The method of claim 11, further comprising breaking the at
least one of the workpiece engagement members away from the end
effector during unintended contact between the at least one of the
workpiece engagement members and an obstruction in the arm motion
in the at least one axis of motion of the articulated arm.
13. The method of claim 12, further comprising breaking the at
least one of the workpiece engagement members away from the end
effector during unintended contact with an obstruction in each axis
of the arm motion in at least one axis of motion of the articulated
arm.
14. The method of claim 11, further comprising breaking the at
least one of the workpiece engagement members away from the end
effector at the frangible compliant coupling during unintended
contact with an obstruction in each axis of the arm motion in at
least one axis of motion of the articulated arm.
15. The method of claim 11, wherein the frangible compliant
coupling has as a frangible interface between a coupling portion of
the base portion of the end effector and a mating coupling portion
of the at least one of the workpiece engagement members.
16. The method of claim 11, wherein the frangible compliant
coupling is configured so that the at least one of the workpiece
engagement members is substantially rigid relative to the base
portion of the end effector with respect to each axis of the arm
motion in at least one axis of motion of the articulated arm.
17. The method of claim 11, further comprising repeatably
positioning the at least one of the workpiece engagement members
with respect to predetermined reference datum of the articulated
arm with deterministic features of a workpiece engagement member
interface of the frangible compliant coupling.
18. The method of claim 17, wherein the predetermined reference
datum of the articulated arm is aligned with a workpiece transport
plane defined in part by the arm motion in at least one axis of
motion.
19. The method of claim 17, wherein the frangible compliant
coupling deterministic features define a snap on engagement
interface mating with complementing features of the at least one of
the workpiece engagement members.
20. The method of claim 11, wherein the at least one of the
workpiece engagement members is frangible compliant so that
breaking away from the base portion of the end effector complies
with at least one of ANSI R 15.06 standards, ISO 10218-1 standards,
or ISO/TS-15066 standards.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 15/689,986, filed Aug. 29, 2017, (now U.S. Pat. No.
11,167,434), which is a non-provisional of and claims the benefit
of U.S. Provisional Application No. 62/381,400, filed on Aug. 30,
2016, the disclosures of which are incorporated herein by reference
in their entireties.
BACKGROUND
1. Field
[0002] The exemplary embodiments generally relate to robotic
systems, and more particularly, to robotic systems having end
effectors for transporting items.
2. Brief Description of Related Developments
[0003] In robotic processing systems the end effector of the
transport robot may be the most delicate and specialized part of
the robotic system. For example, the end effector may include
specialized griping members configured to grip any suitable
item/workpiece having a predetermined shape where contact between
the end effector and the item occurs at predetermined areas of the
item. Generally at least a portion of the end effector that
interfaces with the item is a rigid member that exerts a
predetermined amount of force on the item to effect gripping of the
item with the end effector. In some instances there may be an
unexpected change in the environment in which the transport robot
operates. For example, an object may be unintentionally located
within the operating space of the transport robot where, damage to
the end effector and/or the object may result if contact is made
between the end effector and the object.
[0004] In one aspect, compliant robotic arms that have break away
features may help mitigate the risk of damage to the end effector
and/or object however, the compliant robotic arms are still capable
of exerting excessive force with their end effectors. For example,
conventional complaint robotic arms allow for parts of the robot
arm to break away, but only over a limited distance. In other
examples some parts of the conventional robotic arms may be spring
loaded however; once the preload of the spring is overcome the
spring exerts increasing force rather than a decreasing force. The
limited movement of the breakaway features and the increasing
spring force may cause damage to the robotic arm and the object
unintentionally contacted by the robotic arm.
[0005] In other aspects, sensors may be placed on the end effector
or at other suitable locations on the transport robot that are
configured to sense obstacles in the transport robot path and/or
excessive current being drawn by the transport robot drive system,
which may indicate contact with the unintended object. Light
curtains or other proximity sensor may also be placed in and/or
around the robotic processing system so that the robotic processing
system is shut down (ceases operation) when the light curtain or
other proximity sensor detects an unintended object. The addition
of object detection sensors in the robotic processing system may
undesirably increase the complexity and cost of the robotic
processing system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The foregoing aspects and other features of the disclosed
embodiment are explained in the following description, taken in
connection with the accompanying drawings, wherein:
[0007] FIGS. 1A and 1B are schematic illustrations of a robotic
processing system in accordance with one or more aspects of the
disclosed embodiment;
[0008] FIG. 2 is a schematic illustration of a robotic processing
system in accordance with one or more aspects of the disclosed
embodiment;
[0009] FIG. 3 is a schematic illustration of a robotic processing
system in accordance with one or more aspects of the disclosed
embodiment;
[0010] FIG. 4 is a schematic illustration of a robotic processing
system in accordance with one or more aspects of the disclosed
embodiment;
[0011] FIGS. 5A, 5B and 5C are schematic illustrations of a portion
of a robotic processing system in accordance with one or more
aspects of the disclosed embodiment;
[0012] FIG. 6 is a schematic illustration of a robotic processing
system in accordance with one or more aspects of the disclosed
embodiment;
[0013] FIGS. 7A, 7B and 7C are schematic illustrations of a portion
of an end effector of a robotic processing system in accordance
with one or more aspects of the disclosed embodiment;
[0014] FIG. 8 is a schematic illustration of a portion of an end
effector of a robotic processing system in accordance with one or
more aspects of the disclosed embodiment;
[0015] FIGS. 9A and 9B are schematic illustrations of a portion of
an end effector of a robotic processing system in accordance with
one or more aspects of the disclosed embodiment;
[0016] FIGS. 10A and 10B are schematic illustrations of a portion
of an end effector of a robotic processing system in accordance
with one or more aspects of the disclosed embodiment; and
[0017] FIG. 11 is a flow diagram in accordance with one or more
aspects of the disclosed embodiment.
DETAILED DESCRIPTION
[0018] The aspects of the disclosed embodiment described herein
address the problems of conventional robotic processing systems, as
noted herein, by providing a robotic processing system that
includes at least one end effector that has frangible compliant
workpiece engagement members that detach from the end effector when
a predetermined force is exerted on the workpiece engagement
members. The aspects of the disclosed embodiment also provide for
"snap on" type reattachment of the workpiece engagement members on
the end effector at a predetermined operating location, relative to
a predetermined reference datum of the robotic transport arm, after
unintended contact with an object OBJ1-OBJ5 (see FIGS. 10A and 10B)
so that re-teaching/re-calibrating of the robotic transport is
unnecessary and where the object OBJ1-OBJ5 and the robotic
processing system are located in a collaborative operating space
SPC (see FIGS. 1A-3). As such, the aspects of the disclosed
embodiment may eliminate the need for object detection and/or
proximity sensors within the robotic processing system. The aspects
of the disclosed embodiment may also prevent distortion and/or
damage to the end effector, the transport robot, the workpiece/item
carried by the robotic transport and/or an object OBJ1-OBJ5 that is
unintentionally located within the collaborative operating space
SPC of the robotic transport.
[0019] FIGS. 1A and 1B illustrate a robotic processing system 100
in accordance with one or more aspects of the disclosed embodiment.
Although the aspects of the disclosed embodiment will be described
with reference to the drawings, it should be understood that the
aspects of the disclosed embodiment can be embodied in many forms.
In addition, any suitable size, shape or type of elements or
materials could be used.
[0020] Referring to FIGS. 1A and 1B, in one aspect, the robotic
processing system 100 includes a collaborative operating space SPC
in which one or more mobile carts 110A-110F of the robotic
processing system 100 are located. The robotic processing system
100 may also include an automated system 170, disposed in the
collaborative operating space SPC, to which the one or more mobile
carts 110A-110F are operably interfaced. Each of the mobile carts
110A-110F may include one or more of a robotic transport arm 120,
422, one or more workpiece holding stations 140A, 140B, an operator
interface 150 and any other suitable instrumentation, processing
and/or storage equipment suitable for interfacing with the
workpiece(s) handled by the robotic processing system 100. As may
be realized, a user or operator may access one or more regions of
the collaborative operating space SPC (e.g. interface 150, one or
more holding stations 140A, 140B, or other location on mobile carts
110) directly, and at times such access may be coincident or
coexistent with robotic transport arm 120, 172, 422 operation
within the collaborative operating space SPC. For example, an
operator may place or pick a workpiece on or from a holding station
140A, 140B in anticipation of a robotic pick of that workpiece as
an aspect of a collaborative action with the robotic transport arm
120, 422, 172. Accordingly the robotic transport arm 120, 422, 172
and operator collaborate in the collaborative operating space SPC
in some aspects as will be described further below. In one aspect,
each of the mobile carts 110A-110F includes one or more datum
surfaces or features that are in a known spatial relationship with
a sensor (or other detectable feature) of a respective mobile cart
110A-110F. In one aspect, the features (such as robotic transport
arms, workpiece holding stations and any other
instrumentation/equipment) of each mobile cart 110A-110F are in a
known relationship with the one or more datum surfaces or features
where the robotic processing system 100 may include a device or
tool for sending a signal indicating the position of the mobile
cart features to the automated system 170 as described in, for
example, United States Patent Publication No. 2011/0270445 A1, the
disclosure of which is incorporated herein in its entirety.
[0021] In one aspect, the automated system 170 includes any
suitable robotic transport arm 172 for accessing one or more
features of the one or more mobile carts 110A-110F. In one aspect,
the robotic transport arm may be a selective compliant articulated
robot arm (SCARA arm) or any other arm suitable for transporting
workpieces in the collaborative space SPC. For example, the robotic
transport arm 172 may be configured to access the workpiece holding
stations 140A, 140B, interface with the robotic transport arms 120,
422 or interface/access any other suitable
instrumentation/processing equipment of the one or more mobile
carts 110A-110F as described in United States Patent Publication
No. 2011/0270445 A1, previously incorporated herein by reference.
In one aspect, the automated system 170 is configured as a cluster
tool and has a hexagonal configuration where six mobile carts are
operably interfaced with six facets of the automated system 170. In
other aspects, the automated system 170 may have any number of
facets (e.g. pentagonal, octagonal, rectangular, etc.) so that any
suitable number of mobile carts 110A-110F may be interfaced with
the automated system 170.
[0022] Referring to FIG. 2, in one aspect, two or more robotic
processing systems 100A, 100B may be operably coupled to each other
in any suitable manner as described in U.S. Pat. Nos. 7,560,071,
8,734,720, and 8,795,593, the disclosures of which are incorporated
herein by reference in their entireties. The robotic processing
systems 100A, 100B may be substantially similar to robotic
processing system 100 described above where each of the robotic
processing systems 100A, 100B includes an automated system 170 and
any suitable number of mobile carts 110. Here, any suitable
interface station 320 operably couples the robotic processing
systems 100A, 100B to each other so that workpieces may be
transferred from one robotic processing system 100A, 100B to the
other robotic processing system 100A, 100B through the interface
station 320 in any suitable manner.
[0023] Referring to FIG. 3, in one aspect, the robotic processing
system 100C may be in the form of a linear system as described in
U.S. Pat. Nos. 7,560,071, 8,734,720, and 8,795,593, the disclosures
of which have been previously incorporated herein by reference. For
example, the automated system 170A (which is substantially similar
to automated system 170 described above) in this aspect, has a
linear arrangement where the robotic transport arm 172 traverses
linearly along rail 170R for accessing mobile carts 110 arranged
(in a manner substantially similar to that described above) along
opposite sides of the automated system 170A. As described above,
any suitable interface station 320A may be provided to interface
more than one automated system 170A to each other. In one aspect,
each of the mobile carts 110, 110A-110F and the automated system
170, 170A include any suitable control system(s) 480A, 480B
(similar to control system 480 described herein) that is configured
to carry out any suitable operation of the respective mobile cart
110, 110A-110F and automated system 170, 170A. In one aspect, the
control systems 480A of the mobile carts 110, 110A-110F may be
configured to communicate with the control system 480B of the
automated system 170, 170A for coordinating operations between the
mobile carts 110, 110A-110F and the automated system 170, 170A. In
other aspects, the control system of the automated system 170, 170A
may be configured to control operations of the automated carts 110,
110A-10F connected to the automated system 170, 170A.
[0024] Referring now to FIG. 4, the robotic processing system 100,
100A, 100B, 100C may include a mobile cart 110F that is
substantially similar to that described in U.S. Pat. No. 9,623,405,
the disclosure of which is incorporated by reference herein in its
entirety. For example, the mobile cart 110F may include a pipetting
chamber 400, a storage chamber 460 coupled with the pipetting
chamber 400, and a control system 480 (which may be any suitable
control system having a processor configured to carry out any
suitable operations of the robotic processing system 100D). While
the pipetting chamber 400 and storage chamber 460 are shown as
being included in a common housing or frame 422F (which forms part
the collaborative operating space SPC in which the components of
the mobile cart 110F operate and interface with other mobile carts
110, 110A-110E and automated system 170, 170A) in other aspects,
the pipetting chamber 400 may be separated from the storage chamber
460, such that the pipetting chamber 400 can act as an independent
pipetting chamber. In one aspect, the pipetting chamber 400 may be
accessible through one or more doors 412, where the pipetting
chamber 400 is sealed from an ambient environment when the one or
more doors 412 are closed. The storage chamber 460 may also be
similarly sealed from the ambient environment by one or more doors
412.
[0025] In one aspect, the pipetting chamber 400 may include a set
of pipettor cartridges 414 docked in the pipetting chamber 400 at
any suitable dock location of the pipetting chamber 400. The
pipetting chamber 400 may also include at least one tray dock 416
for holding pipetting trays 418. The pipetting chamber 400 may
include any suitable carrier 424 that is configured to transport
each of the pipettor cartridges 414 to a pipetting location, e.g. a
location of at least one of the pipetting trays 418 within a tray
dock 416 in the pipetting chamber 400. In one aspect, the carrier
424 is a gantry system while in other aspects the carrier may be
any suitable transport such as an articulated robotic transport
arm. The mobile cart 110G may also include any suitable robotic
transport arm 422 (which is substantially similar to one or more of
robotic transport arm 120, 422, 172) configured to move pipetting
trays 418 between the pipetting chamber 400 and a storage carousel
449 of the storage chamber 416.
[0026] Referring to FIG. 5 another exemplary mobile cart 110, which
may be substantially similar to one or more of mobile carts
110A-110E, is illustrated. In one aspect, the mobile cart 110
includes a frame 422F that forms a part of a collaborative
operating space SPC (see FIGS. 1A-3) in which a pipetting tray
storage, such as storage carousel 449, any suitable robotic
transport arm 422 and one or more processing stations 500-504 are
located. The robotic transport arm 422 is configured to transport
the pipetting trays 418 between the storage carousel 449, the
processing stations 501-504 and/or the automated system 170, 170A.
In other aspects, the robotic transport arm 172 of the automated
system 170, 170A may be configured to transport pipetting trays 418
between any one of the processing stations 501-504, the storage
carousel 449 and/or robotic transport arm 422 and any other mobile
cart 110 connected to the automated system 170, 170A.
[0027] Referring to FIGS. 5A-6, in one aspect, the robotic
transport arm 422 includes one or more arm links 422A, 422B and end
effector 422E. In one aspect, the robotic transport arm 422
includes a carriage 422M that is movably mounted to a Z axis track
422T for movement along the Z axis. The robotic transport arm 422
includes any suitable drive section 422D that is connected to a
frame 422F of the robotic transport arm 422, where the drive
section 422D is configured to move the robotic transport arm 422 in
the manner described herein. For example, the robotic transport arm
422 may be coupled to the drive section 422D so that the drive
section 422D provides the robotic transport arm 422 with robot
motion in at least one axis moving at least a portion of the
robotic transport arm 422 in a collaborative operating space SPC,
corresponding to the frame 422F, from a first location to another
different location of at least the portion of the collaborative
operating space SPC. In one aspect, such as with robotic transport
arm 172, the carriage 422M may be configured to rotate about a
rotation axis AX of the robotic transport arm 172 (and may also be
movable in the Z axis) as illustrated in FIG. 1A, while in other
aspects, the carriage 422M is mounted for movement along the X or Y
axes (and may also be movable in the Z axis) as shown in FIG. 3. A
first end of arm link 422A is rotatably coupled to the carriage
422M about axis BX. A first end of arm link 422B is rotatably
coupled to the second end of arm link 422A about axis CX. The end
effector 422E is rotatably coupled to the second end of arm link
422B about axis DX. While two arm links 422A, 422B and end effector
422E are illustrated as being serially coupled to one another in
other aspects the robotic transport arm 422 may include more than
two arm links and more than one end effector.
[0028] The robotic transport arm 422 is configured to move the end
effector 422E, under the control of any suitable controller (such
as those described herein), in a theta .theta. direction about, for
example, axis BX and in a radial direction R (in other aspects
Cartesian coordinates may be used where the end effector is moved
in the X and/or Y directions in a manner comparable to movement in
the radial direction R). Referring still to FIG. 6, the end
effector 422E includes/is provided with a base portion 600 and
workpiece grip 610 having workpiece engagement members 611, 612
(FIG. 11, Block 1100) that are configured to engage and hold a
workpiece, such as pipetting trays 418, during workpiece transport,
such as by the robotic transport arm motion in at least one axis of
motion. In one aspect, the workpiece engagement members 611, 612
are movably coupled to the base portion 600 so that at least one of
the workpiece engagement members 611, 612 is movable, through
activation of the drive section 422D, in direction 699 relative to
each other and/or the base portion 600 for effecting the gripping
and release of the workpiece while (e.g. the workpiece engagement
members 611, 612 are active gripping members) while, in other
aspects, the workpiece engagement members 611, 612 may be
stationarily coupled to the base portion 600 for passively engaging
the workpiece without relative movement between each other and/or
the base portion 600 (e.g. the workpiece engagement members 611,
612 are passive griping members). In this aspect, one or more of
the workpiece engagement members 611, 612 is configured for linear
translation in direction 699 but it should be understood that in
other aspects the workpiece engagement members 611, 612 may be
moved in any suitable manner relative to each other and/or the base
portion 600B for gripping and releasing the workpiece. For example,
the workpiece engagement members 611, 612 may be rotatably mounted
to the base portion 600B for gripping and releasing the workpiece
through a rotation of one or more of the workpiece engagement
members 611, 612.
[0029] At least one of the workpiece engagement members 611, 612 is
coupled to the base portion 600 so that the workpiece engagement
member 611, 612 is frangibly compliant. For example, at least one
of the workpiece engagement members 611, 612 is coupled to the base
portion 600 by a frangible compliant coupling 620 that is located
between a distal portion 611DP, 612DP of the workpiece engagement
member 611, 612 and the base portion 600 of the end effector 422E
from which the at least one workpiece engagement member 611, 612
depends (FIG. 11, Block 1110). The frangible compliant coupling 620
is configured to remain rigid until frangible yielding reaction in
a snap on engagement interface (described below) of the frangible
compliant coupling 620 breaks away (with resultant break away of
the workpiece engagement member 611, 612 from the base portion 600
of the end effector 422E) at a predetermined force threshold, such
as specified in e.g. the American National Standards Institute
(ANSI) R 15.06 standards, the International Organization for
Standardization (ISO) 10218-1 standards and/or the ISO/TS-15066
standards, all of which standards are incorporated herein by
reference in their entireties. As will be described herein at the
predetermined force threshold the at least one workpiece engagement
member 611, 612 breaks away from the base portion 600 of the end
effector 422E. In one aspect, the yield point/force required to
break the workpiece engagement member 611, 612 from the base
portion 600 of the end effector 600 may depend on the manner in
which the workpiece engagement member 611, 612 is coupled to the
base portion 600. In one aspect, the frangible compliant coupling
620 is configured to provide about a 2 pound holding force for
gripping workpieces (such as, for example, gripping workpieces that
have a mass of about 200 grams) where the yield force required to
separate each of the workpiece engagement members 611, 612 from the
respective base member 701 is suitable for a collaborative
operating space SPC and may be in the range from about 5 Newtons to
about 10 Newtons. In other aspects, the holding force provided by
the frangible compliant coupling may be greater or less than about
2 pounds and the yield force may be greater than about 10 Newtons
or less than about 5 Newtons.
[0030] The frangible compliant coupling 620 is also configured to
align the workpiece engagement member 611, 612 with the base
portion 600, a coordinate system of the robotic transport arm
and/or a coordinate system of the robotic processing systems
described herein. As may be realized, since at least one of the
workpiece engagement members 611, 612 is frangibly coupled to the
base portion 600 the positioning of the at least one workpiece
engagement member 611, 612 is controlled, as described herein, to
ensure that the robotic transport arm 120, 172, 422 consistently
grip the workpiece in a predetermined position.
[0031] Referring to FIGS. 6 and 7A-7C the frangible compliant
coupling 620 includes a base portion mounting member 630A, 630B and
a grip interface portion 640A, 640B that are coupled to each other
by a magnetic coupling. In other aspects, any suitable coupling may
be provided between the base portion mounting member 630A, 630B and
the grip interface portion 640A, 640B such as, for example, with
shear pins, shear locations and adhesives. In one aspect, base
portion mounting member 630A, 630B of the frangible compliant
coupling 620 includes/is provided with deterministic features, as
described herein, that define a snap on engagement interface mating
with complementing features of the workpiece engagement member 611,
612 (FIG. 11, Block 1120) (where a snap on reattachment is provided
as an automatic coupling interface engagement where the coupling
interface engagement and alignment of the workpiece engagement
member 611, 612 is performed in substantially one step). For
example, as described above, where the workpiece engagement members
611, 612 are movable relative to the base portion 600, the base
portion mounting member 630A, 630B may be movably mounted to the
base portion 600. Where the workpiece engagement members 611, 612
are stationary relative to the base portion 600, the base portion
mounting member 630A, 630B may be stationarily mounted to the base
portion 600. The base portion mounting member 630A, 630B (it is
noted that base portion mounting member 630B and workpiece
engagement member 611 are illustrated in FIGS. 7A-7C however, base
portion mounting member 630A and workpiece engagement member 612
are similarly configured) includes base member 701 and a magnetic
member 702 coupled to the base member 701. In one aspect, the base
member 701 includes a boss or alignment portion 700 that extends
from a side surface 701S1 of the base member 701 opposite a side
surface 701S2 of the base member 701 that the workpiece engagement
member is coupled to. The boss 700 is configured to interface with
a corresponding recess of the base portion 600 so that the base
member 701 is located in a predetermined position/orientation
relative to base portion 600 of the end effector 422E. In other
aspects, alignment between the base member 701 and the base portion
600 of the end effector may be effected in any suitable manner,
such as with alignment pins, shoulder bots, interfacing between one
or more surfaces, etc. In one aspect, any suitable shims may be
placed between the base member 701 and the base portion 600 of the
end effector 422E for aligning/positioning the base member 701
relative to the base portion 600. The base member 701 may be
coupled to the base portion in any suitable manner such as with
mechanical fasteners.
[0032] The base member 701 also includes a recess 701R in which the
magnetic member 702 is disposed. The magnetic member 702 may be
coupled to the base member 701 within the recess 701R in any
suitable manner such as which mechanical or chemical fasteners or
through a press or interference fit. In one aspect, a surface 702S
of the magnetic member 702 forms a substantially continuous surface
with the surface 701S2 of the base member 701 so that a
substantially flat interface surface is provided for coupling with
the workpiece engagement member 611. In one aspect, the base member
701 may be constructed of a magnetic material, such as for example,
magnetic stainless steel or any other suitable magnetic material.
In one aspect, the base member 701 includes one or more datum
features that are configured to, when the workpiece engagement
member 611 is coupled to the base member 701, align the workpiece
engagement member 611 in a predetermined orientation relative to
the base portion 600 of the end effector 422E and/or a
predetermined reference datum of the robotic transport arm so that
a location and orientation of at least a gripper 710 of the
workpiece engagement member 611 is known in, for example, the
transport robot coordinate system (e.g. R, 0 shown in FIG. 5B
and/or X, Y, Z shown in FIG. 5A).
[0033] The workpiece engagement member 611, 612 includes an
elongated body 611B having a mounting portion 611M and a gripping
portion 611G. The datum surfaces 611S, 611S2, 900, 901 are disposed
at and formed by at least the mounting portion 611M of the
workpiece engagement member 611, 612. The mounting portion 611M may
have any suitable shape and configuration, such as a shape and
configuration that is complimentary to or corresponds with the base
member 701. The mounting portion 611M may include a recess 611R
that receives a magnetic member 712 in a manner substantially
similar to that described above with respect to magnetic member 702
and recess 701R where a surface 611S of the magnetic member 712 and
a surface 611S2 of the mounting portion 611M for a substantially
flat interface surface that interfaces with the substantially flat
interface surface formed by surfaces 702S, 701S2. In another
aspect, the magnetic member 712 may be sized and shaped to provide
a surface 611S that corresponds to the substantially flat surface
formed by the surfaces 702S, 701S2 (where, e.g. the magnetic member
712 is about twice the size of the magnetic member 702--in other
aspects the magnetic members 702, 712 may have any suitable size
relation). In one aspect, the workpiece engagement member 611, 612
may be constructed of any suitable magnetic material in a manner
similar to that described above with respect to the base member
701. Here the magnetic member 712 is configured to mate or couple
with magnetic member 702 to provide the gripping and yield forces
described above. The gripper 710, which is located at the gripping
portion 611G of the workpiece engagement member 611, 612 is
configured to mate with the workpiece in any suitable manner for
transporting the workpiece.
[0034] In one aspect, the frangible compliant coupling 620 provides
the workpiece engagement member 611, 612 with deterministic
features that repeatably position the workpiece engagement member
611, 612 with respect to predetermined reference datum (such as
axis AX, BX or a transport plane of the workpiece) of the robotic
transport arm 120, 172, 442. In one aspect, the predetermined
reference datum is aligned with a workpiece transport plane TP (see
FIG. 5C) defined in part by at least one axis of motion R, .theta.,
X, Y, Z of the robotic transport arm 120, 172, 422. In one aspect
the base member 701 includes datum features 801-802 that each have
surfaces 800S-802S that interface with corresponding datum surfaces
900, 901 of the workpiece engagement member 611 for aligning the
workpiece engagement member 611, 612 with the base portion 600, a
coordinate system of the robotic transport arm and/or a coordinate
system of the robotic processing systems. In other aspects,
alignment of the workpiece engagement member 611 may be provided in
any suitable manner such as with shear pins, reference edges,
detent devices and removable fixtures. In this aspect, one or more
of the surfaces 800S, 801S of the base member 701 are configured to
interface with datum surface 900 of the workpiece engagement member
611, 612 for aligning the workpiece engagement member 611, 612
along a first axis (such as e.g. the Z axis) while the surface 802S
interfaces with the datum surface 901 of the workpiece engagement
member 611, 612 for aligning the workpiece engagement member 611,
612 along a second axis (e.g. the R axis or one of the X or Y
axes). In one aspect, the surfaces 800S, 801S are magnetic surfaces
that, with the magnetic member 702, hold the workpiece engagement
member 611, 612 to the base member 701. The workpiece engagement
member 611, 612 also includes a datum surface(s) 611S, 611S2 that
interfaces with the surface(s) 702S, 701S2 for aligning the
workpiece engagement member 611, 612 along a third axis (e.g. the
.theta. axis or the other one of the X or Y axes).
[0035] In one aspect, the datum surface 802S may be a cylindrical
or other curved surface to provide a point contact between the
workpiece engagement member 611 and the base member 701. As
described herein the point contact provided by the datum surface
802S may cause rotation of the workpiece engagement member 611
about datum feature 802 when a force is applied to the workpiece
engagement member in a predetermined direction, such as direction
1000 (see FIG. 10A).
[0036] Referring also to FIG. 9B the workpiece engagement member
611, 612 has a shape that, in cooperation with the complementing
engagement features between the workpiece engagement member 611,
612 and base member 701 of the frangible compliant coupling 620,
induces prying moments on the workpiece engagement member 611, 612
relative to the base member 701. For example, the mounting portion
611M may be laterally offset from the gripping portion 611G by any
suitable distance J (where the longitudinal axis LAX extends along
a length of the body 611B). While the gripping portion 611G is
shown laterally offset to the side of the workpiece engagement
member 611 on which the magnetic member 712 is located in other
aspects, the gripping portion 611G may be laterally offset to a
side of the workpiece engagement member 611 that is opposite the
magnetic member 712. Referring also to FIGS. 10A and 10B the
gripping portion 611G may also be spaced a predetermined distance
J2 from the datum surface 900 so that, when coupled to the base
member 701 the gripping portion 611G is offset from the datum
surface 802S. In other aspects, the workpiece engagement member
611, 612 has any suitable shape and/or configuration that induces
prying moments on the workpiece engagement member 611, 612 relative
to the base member 701. For example, as will be described in
greater detail below, with brief reference to FIGS. 10A and 10B, a
force F applied to the workpiece engagement member 611, 612
produces a reactionary force FR1 at, at least, the surface 802S of
the datum feature 802 where the force F and the reactionary force
FR1 are offset by the distance J and produce the prying moment 1020
as seen in FIG. 10B. Similarly, as seen in FIG. 10A, the force F
and the reactionary force FR1 at the surface 802S are also offset
by distance J2 and produce prying moment 1040.
[0037] In one aspect, the frangible compliant coupling 620 between
each workpiece engagement member 611, 612 and the end effector 422E
provides frangible compliance so that the workpiece engagement
member 611, 612 breaks away from the end effector 422E during
unintended contact between the workpiece engagement member 611, 612
and an obstruction in arm motion in the at least one axis R,
.theta., X, Y, Z of the robotic transport arm 120, 172, 422. As
will be described below, in one aspect, the workpiece engagement
member 611, 612 breaks away from unintended contact with
obstruction in arm motion in each axis R, .theta., X, Y, Z of the
at least one axis of motion of the robotic transport arm 120, 172,
422. In one aspect, the workpiece engagement 611, 612 member is
configured so that the workpiece engagement member 611, 612 breaks
away from the end effector 422E at the frangible compliant coupling
620 from unintended contact with obstruction in arm motion in each
axis R, .theta., X, Y, Z of the at least one axis of motion of the
robotic transport arm 120, 172, 422.
[0038] Referring to FIGS. 7A-10B, in operation, where the robotic
transport arm 120, 172, 422 is moved along the R axis (or one of
the X or Y axes corresponding to the R axis) (FIG. 11 Block 1130)
so that the workpiece engagement member 611, 612 contacts an
unintended object OBJ1-OBJ5 (see FIGS. 10A and 10B) within the
collaborative operating space SPC and a force F is exerted on the
workpiece engagement member 611, 612 in the direction 1000, the
offsets distances J, J2 in the body 611B of the workpiece
engagement member 611, 612 cause prying moments acting on the
workpiece engagement member 611, 612 (FIG. 11 Block 1140). For
example, force F in direction 1000 acts on the workpiece engagement
member 611, 612 to cause rotation of the workpiece engagement
member 611, 612 about surface 802S in direction 1010 (where the
distance J2 is the moment arm) so that surface 900 is pried away
from surface(s) 800S, 801S and surface 611S (and surface 611S2)
slides or is moved relative to surface(s) 702S, 701S2 and in one
aspect, the workpiece engagement member 611, 612 separates from a
respective base member 701 (and hence from the end effector 422E).
As may be realized, the surfaces 800S, 801S, 802S, 611S, 611S2,
702S, 701S2 form a frangible interface. Also, the force F in
direction 1000 acts on the workpiece engagement member 611, 612 to
cause rotation of the workpiece engagement member 611, 612 in
direction 1020 about surface 802S (where the distance J is the
moment arm) so that surface 611S (and surface 611S2) is pried away
from surface(s) 702S, 701S2 and surface 900 slides or is moved
relative to surface(s) 800S, 801S and in one aspect, the workpiece
engagement member 611, 612 separates from a respective base member
701 (and hence from the end effector 422E).
[0039] Where the robotic transport arm 120, 172, 422 is moved along
the Z axis (FIG. 11, Block 1130) so that the workpiece engagement
member 611, 612 contacts an unintended object OBJ1-OBJ5 within the
collaborative operating space SPC and a force F2 is exerted on the
workpiece engagement member 611, 612 in the direction 1001, the
workpiece engagement member 611, 612 is rotated in direction 1010
about surface 802S so that surface 900 is pried away from
surface(s) 800S, 801S and surface 611S (and surface 611S2) slides
or is moved relative to surface(s) 702S, 701S2 and in one aspect,
the workpiece engagement member 611, 612 separates from a
respective base member 701 (and hence from the end effector 422E)
(FIG. 11, Block 1140). Where the robotic transport arm 120, 172,
422 is moved along the Z axis so that the workpiece engagement
member 611, 612 contacts an unintended object OBJ1-OBJ5 within the
collaborative operating space SPC and a force F5 is exerted on the
workpiece engagement member 611, 612 in the direction 1004, the
workpiece engagement member 611, 612 is rotated in direction 1040
about an edge of surface 800S so that surface 900 is pried away
from surface(s) 800S, 801S and surface 611S (and surface 611S2)
slides or is moved relative to surface(s) 702S, 701S2 and in one
aspect, the workpiece engagement member 611, 612 separates from a
respective base member 701 (and hence from the end effector 422E).
Here the surface 901 may also slide or move relative to the surface
802S during rotation of the workpiece engagement member 611, 612 in
direction 1040.
[0040] Where the robotic transport arm 120, 172, 422 is moved along
the .theta. axis (or one of the X or Y axes) (FIG. 11 Block 1130)
so that the workpiece engagement member 611, 612 contacts an
unintended object OBJ1-OBJ5 within the collaborative operating
space SPC and a force F3 is exerted on the workpiece engagement
member 611, 612 in the direction 1002, the workpiece engagement
member 611, 612 is rotated in direction 1030 about surfaces 802S
and 702S (and 701S2) so that surface 900 slides or moves relative
to surface(s) 800S, 801S and surface 611S (and surface 611S2) is
pried away from surface(s) 702S, 701S2 and in one aspect, the
workpiece engagement member 611, 612 separates from a respective
base member 701 (and hence from the end effector 422E) (FIG. 11
Block 1140). Where the robotic transport arm 120, 172, 422 is moved
along the .theta. axis (or one of the X or Y axes) so that the
workpiece engagement member 611, 612 contacts an unintended object
OBJ1-OBJ5 within the collaborative operating space SPC and a force
F4 is exerted on the workpiece engagement member 611, 612 in the
direction 1003, the workpiece engagement member 611, 612 is rotated
in direction 1020 about an edge of surfaces 702S (and 701S2) so
that surface 900 slides or moves relative to surface(s) 800S, 801S
and surface 611S (and surface 611S2) is pried away from surface(s)
702S, 701S2 and in one aspect, the workpiece engagement member 611,
612 separates from a respective base member 701 (and hence from the
end effector 422E).
[0041] As may be realized, the robot movements along the R,
.theta., and Z axes or the X, Y and Z axes may be combined so that
the prying moments produced by the forces F, F2-F5 are combined in
any suitable manner causing movement of the frangible interface
formed by surfaces 800S, 801S, 802S, 611S, 611S2, 702S, 701S2. In
one aspect, as described above, the frangible compliant coupling
620 provides for complete separation of the at least one workpiece
griping member 611, 612 (it is note that in one aspect both
workpiece engagement members are configured with the frangible
compliant coupling 620 as illustrated in the figures). The
frangible complaint coupling 620 described herein also remains
rigid relative to the base portion 600 of the end effector 422E
with respect to each axis R, .theta., X, Y, Z of motion of the at
least one axis of motion of the robotic transport arm 120, 172, 422
until the predetermined yielding force threshold is met. In one
aspect, after the at least one of the workpiece engagement members
611, 612 has been moved relative to (e.g. displaced or entirely
disconnected) the base portion 600 of the end effector 422E, the at
least one workpiece engagement members 611, 612 may be recoupled to
the base portion 600 (FIG. 11, Block 1150) such as by the "snap on"
type reattachment where the snap on reattachment is an automatic
coupling interface engagement where the coupling interface
engagement and alignment of the workpiece engagement member 611,
612 is performed in substantially one step. For example, the at
least one workpiece engagement members 611, 612 is snapped on a
respective base portion mounting member 630A, 630B where the at
least one workpiece engagement members 611, 612 are located
relative to a predetermined reference datum (as described herein)
using the deterministic features (such as surfaces 701S1, 702S,
800S, 801S, 802S) in substantially one step.
[0042] In accordance with one or more aspects of the disclosed
embodiment a robotic transport system comprises
[0043] a frame;
[0044] a drive section connected to the frame;
[0045] an articulated arm operably coupled to the drive section
providing the articulated arm with arm motion in at least one axis
of motion moving at least a portion of the articulated arm in a
collaborative space, corresponding to the frame, from a first
location to another different location of at least the portion of
the articulated arm in the collaborative space;
[0046] the articulated arm having an end effector with workpiece
grip having workpiece engagement members engaging and holding a
workpiece during workpiece transport, by the arm motion in the at
least one axis of motion;
[0047] wherein at least one of the workpiece engagement members is
a frangible compliant, having a frangible compliant coupling
between a distal portion of the at least one of the workpiece
engagement members and a base portion of the end effector from
which the at least one of the workpiece engagement members
depends.
[0048] In accordance with one or more aspects of the disclosed
embodiment the at least one of the workpiece engagement members is
frangible compliant so that the at least one of the workpiece
engagement members breaks away from the end effector during
unintended contact between the at least one of the workpiece
engagement members and an obstruction in the arm motion in the at
least one axis of motion of the articulated arm.
[0049] In accordance with one or more aspects of the disclosed
embodiment the at least one of the workpiece engagement members
breaks away from the end effector during unintended contact with an
obstruction in each axis of the arm motion in at least one axis of
motion of articulated the arm.
[0050] In accordance with one or more aspects of the disclosed
embodiment the at least one of the workpiece engagement members is
frangible compliant so that the at least one of the workpiece
engagement members breaks away from the end effector at the
frangible compliant coupling during unintended contact with an
obstruction in arm motion in each axis of the at least one axis of
motion of the articulated arm.
[0051] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling has as a frangible
interface between a coupling portion of the base portion of the end
effector and a mating coupling portion of the at least one of the
workpiece engagement members.
[0052] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling is configured so that
the at least one of the workpiece engagement members is
substantially rigid relative to the base portion of the end
effector with respect to each axis of the arm motion in at least
one axis of motion of the articulated arm.
[0053] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling has a workpiece
engagement member interface with deterministic features repeatably
positioning the at least one of the workpiece engagement members
with respect to predetermined reference datum of the articulated
arm.
[0054] In accordance with one or more aspects of the disclosed
embodiment the predetermined reference datum of the articulated arm
is aligned with a workpiece transport plane defined in part by the
arm motion in at least one axis of motion.
[0055] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling deterministic features
define a snap on engagement interface mating with complementing
features of the at least one of the workpiece engagement
members.
[0056] In accordance with one or more aspects of the disclosed
embodiment the at least one of the workpiece engagement members is
frangible compliant so that break away from the base portion of the
end effector complies with at least one of ANSI R 15.06 standards,
ISO 10218-1 standards, or ISO/TS-15066 standards.
[0057] In accordance with one or more aspects of the disclosed
embodiment a method includes providing a drive section connected to
a frame of a robotic transport system, providing an articulated arm
having an end effector with a workpiece grip having workpiece
engagement members, the articulated arm operably coupled to the
drive section providing the articulated arm with robot motion in at
least one axis moving at least a portion of the articulated arm in
a collaborative space, corresponding to the frame, from a first
location to another different location of at least the portion of
the articulated arm in the collaborative space, engaging and
holding a workpiece with the workpiece engagement members during
workpiece transport, by the arm motion in the at least one axis of
motion, wherein at least one of the workpiece engagement members is
frangible compliant, having a frangible compliant coupling between
a distal portion of the at least one of the workpiece engagement
members and a base portion of the end effector from which the at
least one of the workpiece engagement members depends.
[0058] In accordance with one or more aspects of the disclosed
embodiment breaking the at least one of the workpiece engagement
members away from the end effector during unintended contact
between the at least one of the workpiece engagement members and an
obstruction in the arm motion in the at least one axis of motion of
the articulated arm.
[0059] In accordance with one or more aspects of the disclosed
embodiment breaking the at least one of the workpiece engagement
members away from the end effector during unintended contact with
an obstruction in each axis of the arm motion in at least one axis
of motion of the articulated arm.
[0060] In accordance with one or more aspects of the disclosed
embodiment breaking the at least one of the workpiece engagement
members away from the end effector at the frangible compliant
coupling during unintended contact with an obstruction in each axis
of the arm motion in at least one axis of motion of the articulated
arm.
[0061] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling has as a frangible
interface between a coupling portion of the base portion of the end
effector and a mating coupling portion of the at least one of the
workpiece engagement members.
[0062] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling is configured so that
the at least one of the workpiece engagement members is
substantially rigid relative to the base portion of the end
effector with respect to each axis of the arm motion in at least
one axis of motion of the articulated arm.
[0063] In accordance with one or more aspects of the disclosed
embodiment repeatably positioning the at least one of the workpiece
engagement members with respect to predetermined reference datum of
the articulated arm with deterministic features of a workpiece
engagement member interface of the frangible compliant
coupling.
[0064] In accordance with one or more aspects of the disclosed
embodiment the predetermined reference datum of the articulated arm
is aligned with a workpiece transport plane defined in part by the
arm motion in at least one axis of motion.
[0065] In accordance with one or more aspects of the disclosed
embodiment the frangible compliant coupling deterministic features
define a snap on engagement interface mating with complementing
features of the at least one of the workpiece engagement
members.
[0066] In accordance with one or more aspects of the disclosed
embodiment the at least one of the workpiece engagement members is
frangible compliant so that breaking away from the base portion of
the end effector complies with at least one of ANSI R 15.06
standards, ISO 10218-1 standards, or ISO/TS-15066 standards.
[0067] It should be understood that the foregoing description is
only illustrative of the aspects of the disclosed embodiment.
Various alternatives and modifications can be devised by those
skilled in the art without departing from the aspects of the
disclosed embodiment. Accordingly, the aspects of the disclosed
embodiment are intended to embrace all such alternatives,
modifications and variances that fall within the scope of the
appended claims. Further, the mere fact that different features are
recited in mutually different dependent or independent claims does
not indicate that a combination of these features cannot be
advantageously used, such a combination remaining within the scope
of the aspects of the invention.
* * * * *