Adjustable Robot Arm Effector Connecting Device
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Solution Overview
Problem
Existing devices for connecting robot arms to effectors lack the ability to adjust compliance based on the weight of the effector and payload, leading to a high risk of injury and damage during collisions.
Innovation Solution
A device with adjustable restoring force along a linear displacement path, utilizing a combination of springs and converting elements to maintain a constant restoring force, ensuring effective compliance and evasive behavior during collisions, and allowing for adjustment through spindle drives and control units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a spring mechanism is used to provide restoring force, then compliance is improved, but the restoring force decreases along the displacement path
Solution Approach 1:
The patent combines multiple springs (first spring and second spring) with different characteristics into a single spring unit. The first spring provides initial compliance with decreasing force, while the second spring engages later to maintain constant restoring force throughout the displacement path, resolving the contradiction between compliance and force consistency.
Solution Approach 2:
The patent employs a dynamic spring mechanism where the second spring is positioned to engage only after the first spring reaches its travel limit. This dynamic activation ensures that the restoring force remains constant along the entire displacement path, adapting to different collision scenarios while maintaining safety.
2Object-affected harmful factors
If the restoring force is increased to prevent injury, then safety is improved, but the risk of destruction to objects increases
Solution Approach 1:
The patent allows adjustment of the restoring force parameter through interchangeable springs or adjustable spring preloads. This enables optimization of the force level to prevent injury while minimizing damage to objects, resolving the contradiction between safety and object protection.
3Reliability
If the compliance is adjusted to match effector weight, then safety is improved, but device complexity increases
Solution Approach 1:
The patent implements adjustable compliance parameters through simple spring preload adjustment or interchangeable spring elements. This allows the restoring force to be matched to different effector weights without requiring complex active control systems, maintaining safety while minimizing device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device effectively reduces the risk of injury and damage by maintaining a constant restoring force over the displacement path, ensuring safe operation and preventing excessive loads during collisions, while allowing for easy adjustment based on the effector's weight and load.
Implementation Method 1
a spring mechanism with at least a first spring and a second spring applies the adjustable restoring force, wherein the first spring is brought into action with decreasing restoring force in the direction of the pushed-together position and the second spring is brought into action with increasing restoring force in the direction of the pushed-together position
Implementation Method 2
At least one converting element is provided for converting a displacement movement along the displacement path into an actuation of the first and/or the second spring transverse to the displacement path
Data Source
AI summary
In a device for connecting an effector of a handling device to a movable part of the handling device, in particular to a robot arm, wherein the device comprises a first mounting part for mounting the effector on the device and a second mounting part for mounting the device on the movable part and the first mounting part and the second mounting part are displaceable with respect to one another along a linear displacement path between a pulled-apart position and a pushed-together position, the first mounting part and the second mounting part are loaded with respect to one another along the displacement path with a settable restoring force, preferably with a constant restoring force along the displacement path, in the direction of the pushed-together position.