US 9,808,933 B2
Robotic system with reconfigurable end-effector assembly
Yhu-Tin Lin, Rochester Hills, MI (US); Joerg Pohlers, Kammerhofweg (DE); Ken Dellach, Shelby Township, MI (US); and Maurice Perlman, Oak Park, MI (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US); and Delaware Capital Formation, Inc., Wilmington, DE (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US); and Delaware Capital Formation, Inc., Wilmington, DE (US)
Filed on Mar. 24, 2016, as Appl. No. 15/80,069.
Claims priority of provisional application 62/142,748, filed on Apr. 3, 2015.
Claims priority of provisional application 62/142,751, filed on Apr. 3, 2015.
Prior Publication US 2016/0288322 A1, Oct. 6, 2016
Int. Cl. G05B 19/18 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 15/0061 (2013.01); B25J 15/0616 (2013.01); Y10S 901/41 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a multi-axis robot having an arm and a wrist;
an end-effector assembly having a main boom, a tool changer assembly disposed at a distal end of the main boom, parallel frame rails arranged orthogonally with respect to the main boom and rotatable with respect to an axis of the main boom, a plurality of tool support branches arranged orthogonally with respect to the parallel frame rails, and a plurality of tool modules connected to a respective one of the tool support branches, wherein the tool modules are rotatable and translatable with respect to an axis of a respective one of the branches;
a configuration tool having a control block disposed at one distal end of the configuration tool that is selectively engageable via the tool changer assembly, and a work tool disposed at another distal end of the configuration tool; and
a controller programmed to command the robot to automatically configure the end-effector assembly by adjusting at least one of the tool modules, the parallel rails, and the tool support branches using the configuration tool in response to an identified work task, and to thereafter command engagement of the wrist with the tool changer and execute the identified work task using the configured end-effector assembly.