Canadian Patents Database / Patent 2147654 Summary

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(12) Patent: (11) CA 2147654
(54) English Title: COUPLING AND ROBOTIC ENGAGEMENT FIXTURE AND JAWS
(54) French Title: BATI ET MACHOIRES DE COUPLAGE ET D'EMBRAYAGE ROBOTIQUE
(51) International Patent Classification (IPC):
  • B64G 4/00 (2006.01)
  • B64G 1/22 (2006.01)
(72) Inventors (Country):
  • LIU, KING-HENG (Canada)
  • RIFE, GORDON (Canada)
(73) Owners (Country):
  • CANADIAN SPACE AGENCY (Canada)
(71) Applicants (Country):
  • CANADIAN SPACE AGENCY (Canada)
(74) Agent: FRENCH, DAVID J.
(45) Issued: 2005-10-25
(86) PCT Filing Date: 1994-08-24
(87) PCT Publication Date: 1995-03-02
Examination requested: 2001-06-22
(30) Availability of licence: N/A
(30) Language of filing: English

(30) Application Priority Data:
Application No. Country Date
08/111,065 United States of America 1993-08-24
08/111,061 United States of America 1993-08-24

English Abstract





A coupling interface (1) for grasping by a robotic end effector comprises a
body (2) and two pairs of fingers (4, 5 and 6, 7) extending
outwardly from opposite sides of the body, each pair of fingers (4, 5 and 6,
7) providing a bifurcation between their inner sides (8, 9 and
10, 11) in the form of an inwardly tapering recess (12, 14). All of the inner
sides of the fingers are bevelled for aligning a complementary
shaped anvil with the tapering recess. The anvil (29) is also provided with a
central, chamfered, "V" shaped recess (48) to engage with the
corners of a square-waisted microfixture interface.


French Abstract

Le dispositif concerne une interface d'assemblage (1) permettant la saisie par l'organe terminal d'un robot. Le dispositif est constitué d'un corps (2) et de deux couples de doigts (4, 5 et 6, 7) dépassant vers l'extérieur du corps au niveau des deux faces opposées du corps. Chaque couple de doigts (4, 5 et 6, 7) constitue une patte d'oie quand on considère leurs faces internes (8, 9 et 10, 11). Le profil de cette patte d'oie est en forme de renfoncement se rétrécissant vers l'intérieur (12, 14). Les faces intérieures des doigts sont biseautées pour faire coïncider une touche fixe de forme complémentaire avec le renfoncement se rétrécissant vers l'intérieur. La touche fixe (29) comporte également en son centre un renfoncement chanfreiné en V (48) qui s'adapte aux coins d'une interface dont le microbâti comporte une gorge à circonférence carrée.


Note: Claims are shown in the official language in which they were submitted.




15


THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:


1. A bifurcated connector interface suitable for use with
orbital replacement units comprising:
(1) an interface body having opposite outer sides and
an underside; and
(2) two pairs of fingers having root ends and lateral
sides extending outwardly from said opposite outer
sides of the interface body, each pair of fingers
defining a bifurcation between their inner sides in
the form of a bifurcating recess which tapers
inwardly towards the interface body; the inner
lateral sides the finger pairs being beveled for
aligning with a pair of correspondingly shaped
gripping anvils that can enter the respective
bifurcating recesses for engagement with the
interface.

2. An interface as in claim 1 wherein the beveled inner
lateral sides of each of the fingers define a shape for the
fingers that is in the form of a truncated triangle in cross-
section.

3. An interface as in claim 2 wherein the shape for the
cross-section of the fingers is that of a truncated isosceles
triangle.

4. An interface as in any one of claims 1, 2 or 3
comprising strengthening webs extending along the two outer



16


sides of the interface body intermediate the finger pairs,
joining the outer lateral sides of the fingers.

5. An interface as in any one of claims 1, 2, 3 or 4
wherein the interface body is pierced centrally,
perpendicularly to the plane of the fingers by a fastener
access opening.

6. An interface as in any one of claims 1, 2, 3, 4 or
comprising mounting ribs provided on the underside of the
interface body for engagement with indexing slots on an object
to which the interface is to be attached.

7. An interface as in any one of claims 1, 2, 3, 4, 5
or 6 comprising attachment means in the form of fastener
passageways extending downwardly through the interface body to
the underside thereof.

8. An interface as in claim 7 wherein said fastener
passageways are located at positions adjacent the outer, root-
ends of the fingers.

9. A gripping anvil for engagement with the interface
of claim 1 or similar object comprising:
(a) an anvil body portion;
(b) a pair of splayed protuberances each having an
exterior portion, said protuberances extending from
the anvil body portion for engaging an article of
complementary form, each of said pair of
protuberances having:
(i) opposed, outer, notched sides with notches



17


formed therein that are diverging from one another
on the exterior portion of each protuberance.

10. A gripping anvil as in claim 9 having:
(i) opposed, inner sides defining between them a
converging recess, such inner sides having top and
bottom, chamfered, inner side portions.

11. A gripping anvil as in claim 10 wherein the central
portions of the top and bottom, chamfered, inner sides of the
converging recess are planar and extend substantially
vertically between their chamfered side portions.

12. A gripping anvil as in any one of claims 9, 10 or 11
wherein the notches on the exterior portions of the pairs of
protuberances of said gripping anvil each comprise two,
inwardly tapering, planar sides leading to a flat bottom.

13. A gripping anvil as in any one of claims 9, 10, 11
or 12 wherein the protuberances have truncated ends.



A single figure which represents the drawing illustrating the invention.

For a clearer understanding of the status of the application/patent presented on this page, the site Disclaimer , as well as the definitions for Patent , Administrative Status , Maintenance Fee  and Payment History  should be consulted.

Admin Status

Title Date
(86) PCT Filing Date 1994-08-24
(87) PCT Publication Date 1995-03-02
(85) National Entry 1995-04-21
Examination Requested 2001-06-22
(45) Issued 2005-10-25
Expired 2014-08-25

Payment History

Fee Type Anniversary Year Due Date Amount Paid Paid Date
Filing $0.00 1995-04-21
Registration of Documents $0.00 1996-08-01
Registration of Documents $0.00 1996-08-01
Maintenance Fee - Application - New Act 2 1996-08-26 $100.00 1996-08-08
Maintenance Fee - Application - New Act 3 1997-08-25 $100.00 1997-08-22
Maintenance Fee - Application - New Act 4 1998-08-24 $100.00 1998-02-02
Maintenance Fee - Application - New Act 5 1999-08-24 $150.00 1999-05-17
Maintenance Fee - Application - New Act 6 2000-08-24 $150.00 2000-06-27
Request for Examination $400.00 2001-06-22
Maintenance Fee - Application - New Act 7 2001-08-24 $150.00 2001-06-22
Maintenance Fee - Application - New Act 8 2002-08-26 $150.00 2002-06-13
Maintenance Fee - Application - New Act 9 2003-08-25 $150.00 2003-06-26
Maintenance Fee - Application - New Act 10 2004-08-24 $250.00 2004-07-19
Final $300.00 2005-07-22
Maintenance Fee - Application - New Act 11 2005-08-24 $250.00 2005-07-22
Maintenance Fee - Patent - New Act 12 2006-08-24 $250.00 2006-07-20
Maintenance Fee - Patent - New Act 13 2007-08-24 $250.00 2007-07-26
Maintenance Fee - Patent - New Act 14 2008-08-25 $250.00 2008-05-22
Maintenance Fee - Patent - New Act 15 2009-08-24 $450.00 2009-05-04
Maintenance Fee - Patent - New Act 16 2010-08-24 $450.00 2010-06-18
Maintenance Fee - Patent - New Act 17 2011-08-24 $450.00 2011-05-26
Maintenance Fee - Patent - New Act 18 2012-08-24 $450.00 2012-04-19
Maintenance Fee - Patent - New Act 19 2013-08-26 $450.00 2013-05-13

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Date
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Abstract 1995-03-02 1 62
Claims 2005-01-19 3 92
Claims 2004-05-27 3 88
Claims 1995-03-02 4 102
Claims 2003-10-09 3 91
Cover Page 2005-09-29 1 50
Cover Page 1995-08-15 1 16
Description 2004-05-27 14 414
Description 1995-03-02 14 413
Description 2003-10-09 14 422
Drawings 1995-03-02 3 77
Drawings 2003-10-09 3 79
Prosecution-Amendment 2005-01-19 3 74
Prosecution-Amendment 2004-07-27 2 34
Prosecution-Amendment 2004-05-27 6 188
Prosecution-Amendment 2004-01-19 2 61
Prosecution-Amendment 2003-10-09 16 548
Prosecution-Amendment 2003-04-10 2 68
Prosecution-Amendment 2001-06-22 2 54
Representative Drawing 2005-10-24 1 19
Representative Drawing 2005-09-29 1 19
Representative Drawing 2003-04-04 1 16
Representative Drawing 1998-02-12 1 14