End Effector Tool Exchange Using Continuous Motion Engagement
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Solution Overview
Problem
Existing tool changers for programmable motion devices are slow, leading to inefficiencies in automated systems, particularly in applications where rapid tool exchange is necessary, such as in logistics and manufacturing, where tools are often simpler and lighter, and precise mounting is not always required.
Innovation Solution
A method and system for rapidly exchanging tools on programmable motion devices by moving an attachment portion of the end effector in a continuous or linear motion, engaging or disengaging tools while in motion, eliminating the need for fine, precise motions and reversals, allowing for quick tool changes without stopping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional tool changers are used with precise tolerances and latch mechanisms, then tool mounting precision is improved, but tool exchange speed deteriorates
Solution Approach 1:
The patent removes the latch mechanism and precise tolerancing requirements from the tool changer system. By extracting these elements that constrain speed, the system achieves rapid tool exchange while maintaining adequate mounting precision through simpler means such as gravity-assisted engagement and basic mechanical interfaces.
Solution Approach 2:
Instead of using precise motions to achieve tool exchange as in conventional systems, the patent inverts the approach by using imprecise, rapid motions combined with passive engagement mechanisms. The tool changer uses loose tolerances and gravity-based engagement rather than precise controlled movements, achieving both speed and functional precision.
2Manufacturing precision
If conventional tool changers use precise motions and reversals for tool exchange, then tool mounting accuracy is improved, but productivity deteriorates
Solution Approach 1:
The patent eliminates the need for motion reversals and stopping during tool exchange by implementing a continuous linear motion system. The end effector moves continuously in one direction through the tool changer, maintaining useful action throughout the exchange process and eliminating idle time associated with precise positioning and reversal maneuvers.
Solution Approach 2:
The system rushes through the tool exchange process by using rapid linear motion that skips the traditional precise positioning and reversal steps. The continuous motion carries the end effector quickly through the tool changer, achieving tool exchange without the time-consuming precision movements that would otherwise be required.
3Adaptability or versatility
If tool changers are designed for wide range applications with complex tools, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent implements a universal tool changer design that can accommodate various tool types including grippers, welders, and spray heads through a standardized interface. The simple linear motion mechanism and generic engagement system provide multi-functionality without requiring complex specialized mechanisms for each tool type.
Solution Approach 2:
The system uses dynamic engagement where tools are captured during continuous motion rather than requiring static precise positioning. This dynamic approach allows the same simple mechanism to handle diverse tool types with different weights and geometries, reducing the need for complex adaptive mechanisms.
Data Source
AI summary
A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.