End Effector Tool Exchange in Continuous Motion
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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 may be simpler and lighter, and precision 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, allowing for simultaneous dismounting and mounting of tools without the need for fine, precise motions, using mechanisms like magnetic coupling, rollers, or mechanical constraints to facilitate tool exchange during uniform motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional 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 extracts and removes the latch mechanism and precise tolerancing requirements from the tool changer system. By eliminating these components that were previously necessary for secure tool mounting, the system achieves rapid tool exchange without compromising functionality, as the continuous motion itself provides the securing effect
Solution Approach 2:
The patent implements continuous linear motion throughout the entire tool exchange process. The end effector moves continuously through the tool rack without stopping or reversing, maintaining useful action throughout. This eliminates the delays associated with traditional start-stop-latch mechanisms while still achieving reliable tool mounting through the dynamics of continuous motion
2Reliability
If traditional tool changers use start-stop-latch motions, then tool securing reliability is improved, but productivity deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-positioning tools in the rack and using the continuous motion trajectory to automatically engage tools at the correct moment. The system prepares the tool exchange pathway in advance and uses the inherent dynamics of continuous motion to secure tools reliably without requiring intermediate stopping or latching actions
Solution Approach 2:
The system maintains continuous useful action by eliminating all stop-latch-start sequences. The end effector moves continuously through the tool rack, and tool securing occurs dynamically during motion rather than during stationary latching operations, thereby maximizing productivity while maintaining reliability
3Adaptability or versatility
If tool changers are designed for complex bulky tools, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent segments the tool exchange function into simple modular components: a linear motion system and a tool rack with individual tool positions. This segmentation allows the system to handle various tool types without requiring a complex integrated mechanism, as each tool can be independently positioned and exchanged through the simple linear motion pathway
Solution Approach 2:
The continuous linear motion mechanism serves multiple functions: it transports the end effector through the tool rack, provides the dynamic securing force for tool mounting, and enables exchange of various tool types. This universal mechanism replaces multiple specialized mechanisms that would be needed for different tool types, reducing overall device complexity while maintaining adaptability
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
This approach enables faster and more efficient tool changes, reducing the time required for tool exchange operations and improving the overall speed and efficiency of automated systems by eliminating the need for complex, precise motions, making automated solutions more viable in various applications.
Implementation Method 1
using mechanisms like magnetic coupling, rollers, or mechanical constraints to facilitate tool exchange during uniform motion
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.