Field of Invention

The present invention relates generally to a mounting structure for facilitating coupling of a tool or end effector to a manipulator.

Background

End-effectors are the main life line for most robotic arms and automations and are usually available in a variety of designs to suit a particular task or a range of tasks. As such, it is not uncommon for multiple end-effectors to be available for use by, for example, a robotic arm which uses a coupling system to couple an end-effector thereto and to decouple an end- effector therefrom when swapping to another end-effector. Such coupling systems will have a mounting structure forming part thereof or coupled thereto to enable the mounting structure, and consequently the coupling system, to be docked with a docking structure when not in use. However, docking features of the mounting structure and the docking structure, for example pins and holes for use in inter-engagement, are susceptible to misalignment, which will leave the mounting structure partially docked or falling of the docking structure. Decreasing the tolerance and allowing some level of motion play between the features will address this problem but will in turn create another problem of misalignment between the feature, for example the pins and holes, thereby leading to jamming during removal of the mounting structure from the docking structure by the manipulator. Therefore, there is an apparent need for an improved approach for addressing the foregoing problems.

Summary

In accordance with an aspect of the invention, there is disclosed a mounting structure comprising a first segment and a second segment. The first segment defines a first mount face and a plurality of first receptacles extending into the first segment from the first mount face with each of the plurality of first receptacles defining a first receptacle axis and is for receiving one of a plurality of first protrusions extending from a first docking face of a docking structure when the first mount face abuts the first docking face when the mounting structure docks with the docking structure, each of the plurality of first protrusions having a first longitudinal axis. The second segment defines a second mount face and is shaped for coupling with a manipulator, the second mount face inwardly opposes a second docking face defined by the docking structure when the mounting structure docks with the docking structure. Wherein when the manipulator couples with the second segment, the mounting structure is displaced to abut the second mount face with the second docking face to thereby align the first receptacle axis of each of the plurality of first receptacle with the first longitudinal axis of the respective one of the plurality of first protrusions to substantially reduce structural interference between the plurality first protrusions and the plurality of first receptacles when the first mount face is displaced away from the first docking face.

Brief Description of the Drawings

FIG. 1 shows partial front perspective view of a mounting structure according to one embodiment of the invention with the mounting structure being spatially displaced from a docking structure and a manipulator being positioned for coupling with the mounting structure;

FIG. 2 shows partial front perspective view of the mounting structure of FIG. 1 according to another embodiment of the invention with the mounting structure being spatially displaced from a docking structure and a manipulator being positioned for coupling with the mounting structure;

FIG. 3 shows a partial front perspective view of the mounting structure of FIG. 2 with the mounting structure being docked with the docking structure; and

FIG. 4 shows a partial front perspective view of FIG. 2 with the mounting structure being coupled with the manipulator and being spatially displaced away from the docking structure. Detailed Description

Reference will now be made in detail to an exemplary embodiment of the present invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the embodiment, it will be understood that they are not intended to limit the invention to these embodiments. On the contrary, the invention is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of embodiments of the present invention, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be recognized by one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the embodiments of the present invention

An exemplary embodiment of the invention, a mounting structure 20, is described with reference to FIGS 1 to 4. The mounting structure 20 preferably comprises a first segment 22 and a second segment 24. The first segment 22 defines a first mount face 25 and a plurality of first receptacles 26 extending into the first segment 24 from the first mount face 25. Each of the plurality of first receptacles 26 defines a first receptacle axis 28 and is for receiving one of a plurality of first protrusions 30 extending from a first docking face 32 of a docking structure 34 when the first mount face 25 abuts the first docking face 32 when the mounting structure 20 docks with the docking structure 34. Each of the plurality of first protrusions 30 has a first longitudinal axis 36.

The second segment 24 defines a second mount face 40 and is shaped for coupling with a manipulator 42. The second mount face 40 inwardly opposes a second docking face 44 defined by the docking structure 34 when the mounting structure 20 docks with the docking structure 34. When the manipulator 42 couples with the second segment 24, the mounting structure 20 is displaced to abut the second mount face 40 with the second docking face 44 to thereby align the first receptacle axis 28 of each of the plurality of first receptacles 26 with the first longitudinal axis 36 of the respective one of the plurality of first protrusions 30 to substantially reduce structural interference between the plurality first protrusions 30 and the plurality of first receptacles 26 when the first mount face 25 is displaced away from the first docking face 32.

Each of the first segment 22 and the second segment 24 of the mounting structure 20 being a plate structure with each of the plurality of first receptacles 26 being apertures formed through the first segment 22. Preferably, the first mount face 25 is substantially perpendicular the second mount face 40. In this instance, the first segment 22 and the second segment 24 are configured to form and L-shape structure. The docking structure 34 is preferably a rectilinear block structure with the first docking face 32 being defined adjacent and outwardly facing the second docking face 44.

In an alternative instance, the first segment 22 and the second segment 24 are portions of a rectilinear block structure with each of the plurality of first receptacles 26 being formed in the first segment 22, wherein the first mount face 25 is defined adjacent and outwardly facing the second mount face 40. In this instance, the first docking face 32 being formed on a base structure 46 and the second docking face 44 being formed on at least one plate structure 48 extending from the base structure 46 with the second docking face 44 inwardly opposing the first docking face 32 at an angle. Preferably, the at least one plate structure 48 extends substantially perpendicular the first docking face 32.

The second mount face 40 and the second docking face 44, preferably in conjunction with the L-shape structure, the base structure 46 and the at least one plate structure 46, or any combination or hybridised use thereof, , will minimise tilt and misalignment between the first receptacle axis 28 and the first longitudinal axis 36 to minimise structural impediment between the plurality of first receptacle 26 and the plurality of first protrusions 30 during undocking, by spatial displacement of the mounting structure 20, from the docking structure 34.

The second segment 24 of the mounting structure 20 further defines a plurality of second receptacles 50 extending therethrough. Each of the plurality of second receptacles 50 defining a second receptacle axis 52 and is for receiving one of a plurality of second protrusions 54 formed on the manipulator 42 for coupling with the manipulator 42. Each of the plurality of second protrusions 54 defining a second longitudinal axis 55.

Preferably, the plurality of first receptacles 26 being a pair of first receptacles 26 and the plurality of second receptacles 50 being a pair of second receptacles 50, wherein the distance between the pair of first receptacles 26 being larger than the distance between the pair of second receptacles 50.

The mounting structure 20 has a plurality of slots 56 for accommodating the plurality of second protrusions 54 emerging from the second mount face 40 as they extend through the respective plurality of second receptacles 50. Each of the plurality of slots 56 defines a passageway substantially parallel the first longitudinal axis 36 of at least one of the plurality of first protrusions 30 for the travel of a respective one of the plurality of second protrusions 54 therealong when the first mount face 25 displaces away from the first docking face 32 when the plurality of second protrusions 54 is received in the plurality of second receptacles 50.

Preferably, each of the second segment 24 and the manipulator 42 has at least one of one of a magnet and a ferromagnetic material disposed adjacent the plurality of second receptacles 50 and the plurality of second protrusions respectively 54.

In some implementation, one of the plurality of second protrusions 54 and the plurality of receptacles 50 is electrically coupled to an electrical power source while the other of the plurality of second protrusions 54 and the plurality of receptacles 50 is being coupled to an electrically active system. In such an implementation, the plurality of first protrusions 30 and the plurality of second protrusions 54 are one of formed from and coated with an electrically conductive material. Further, the plurality of first receptacles 26 and the plurality of second receptacles 50 are one of formed from and coated with an electrically conductive material.

The mounting structure 20 and the docking structure 34 together forms and constitute a mounting assembly. Preferably, the mounting structure 20 further comprises at least one of a cooking tool, a cooking utensil and a cooking gadget being coupled to the first segment 22. Examples of the at least one of a cooking tool, a cooking utensil and a cooking gadget comprises a spatula, a frying pan, a plate, a wok, a knife, a condiment or ingredient dispenser and a can opener. For the avoidance of doubts, the mounting structure 20 can alternatively comprise non-cooking and non-kitchen related tools and articles for coupling thereto.

Preferably, the manipulator 42 is one of a mechanism, a machinery, an automation equipment and a robotic system for performing pick-and-place tasks therewith.

In a forgoing manner, a mounting structure is described according to an exemplary embodiment of the invention. Although only one embodiment of the invention is disclosed in this document, it will be apparent to one skilled in the art in view of this disclosure that numerous changes and/or modifications can be made to the disclosed embodiment without departing from the scope and spirit of the invention.