Robotic End-Effector Reconfiguration via Screw Clamp Locking
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Solution Overview
Problem
Existing end-effector designs for industrial robots are inflexible and require manual adjustment, leading to increased costs and weight, and are not easily adaptable for handling diverse work pieces with different sizes, shapes, and surface contours.
Innovation Solution
A reconfigurable end-effector assembly with screw clamp mechanisms and a configuration tool that allows automatic locking and unlocking of tool branches, enabling five degrees of freedom and quick reconfiguration in response to control signals, allowing the robot to handle various work pieces efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual adjustment mechanisms are used for tool branches, then the end-effector can be configured for different tasks, but the reconfiguration process is time-consuming and requires manual intervention
Solution Approach 1:
The system employs self-servicing mechanisms where the robotic arm automatically positions and adjusts the tool branches using integrated actuators and sensors. The control system autonomously calculates optimal configurations and executes adjustments without manual intervention, enabling the end-effector to self-reconfigure for different work pieces.
Solution Approach 2:
The end-effector assembly incorporates dynamic adjustment capabilities with multiple degrees of freedom in tool branches, allowing real-time reconfiguration through motorized joints and movable components. This dynamic design enables rapid adaptation to different task requirements by programmatically adjusting branch positions and orientations.
2Reliability
If conventional self-locking clutches or calipers are used, then the tool branches can be secured in position, but the system becomes more complex and heavier
Solution Approach 1:
The patent replaces conventional mechanical self-locking clutches and calipers with a control system that uses motorized actuators, sensors, and software algorithms to maintain tool branch positions. The electronic control system continuously monitors and adjusts positions, eliminating the need for complex mechanical locking mechanisms while maintaining position stability.
3Adaptability or versatility
If fixed end-effector designs are used, then the structure is simpler and lighter, but the robot cannot handle diverse work pieces with different sizes, shapes, and surface contours
Solution Approach 1:
The end-effector is divided into modular components including multiple tool branches with independent adjustment capabilities. Each branch can be individually positioned and configured, allowing the system to handle diverse work pieces without requiring a completely different end-effector design. This segmentation enables versatility while keeping individual components relatively simple and lightweight.
Data Source
AI summary
A robotic system includes a robotic arm and an end-effector assembly movably coupled to the robotic arm. The end-effector assembly includes a main boom, a frame rail coupled to the main boom, and a plurality of tool branches movably coupled to the frame rail. Each tool branch includes a branch rail movably coupled to the frame rail, a lock coupling the branch rail to the frame rail, and a protrusion coupled to the first lock. The robotic system also includes a configuration tool movably coupled to the robotic arm. The configuration tool includes including a tool body, a gripper coupled to the tool body, and a driver bit extending from the tool body.