US 11,772,277 B2
Tool holders for robotic systems having collision detection
Nauman Basit, Windsor (CA)
Assigned to Illinois Tool Works Inc., Glenview, IL (US)
Filed by Illinois Tool Works Inc., Glenview, IL (US)
Filed on Apr. 28, 2020, as Appl. No. 16/860,446.
Application 16/860,446 is a continuation of application No. 15/219,591, filed on Jul. 26, 2016, granted, now 10,632,624.
Prior Publication US 2020/0384653 A1, Dec. 10, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); B25J 19/06 (2006.01); B23K 9/32 (2006.01); B23K 9/173 (2006.01); B23K 9/10 (2006.01); B23K 37/00 (2006.01)
CPC B25J 13/085 (2013.01) [B23K 9/1006 (2013.01); B23K 9/173 (2013.01); B23K 9/321 (2013.01); B23K 37/006 (2013.01); B25J 19/063 (2013.01); Y10S 901/09 (2013.01); Y10S 901/42 (2013.01); Y10S 901/46 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic tool holder, comprising:
a housing having a proximal end and a distal end;
an actuator disposed within the housing and configured to hold a tool, the housing and the actuator being in contact via a plurality of dowels to limit movement of the actuator toward the distal end of the housing, in which two or more of the plurality of dowels are in line contact with each other, and the plurality of dowels are in line contact with the housing or the actuator and in a triangular geometry;
a pressure plate in line contact with the actuator within the housing around a circumference of the pressure plate;
a plurality of springs in contact with the pressure plate to bias the actuator toward the proximal end of the housing via the pressure plate;
a mounting plate to couple the robotic tool holder to a robot, the plurality of springs in contact with the mounting plate opposite the pressure plate; and
a sensor switch to detect a shock force on the actuator and to output a signal in response to detecting the shock force.