Exchangeable Tool Manipulator Non-Rotatable Connection
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Solution Overview
Problem
Existing tool manipulation systems face challenges in maintaining precise control over tool orientation and size compatibility, leading to inefficiencies in tool exchange and handling, particularly when dealing with tools of different dimensions and shapes, which results in increased productive time and potential misalignment during automated processes.
Innovation Solution
A standardized, non-rotatable connection mechanism is introduced, allowing tools to be held uniformly and preventing rotation, utilizing features like cavities with locking ribs or threads within the tool body for secure attachment, enabling consistent orientation and additional functions such as signal transfer, and accommodating tools of varying geometries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If tools with different sizes and shapes are held in different ways, then each tool can be securely held, but the manipulator needs multiple grippers which reduces productivity
Solution Approach 1:
The invention applies universality by designing a single standardized gripper interface that can hold tools of different sizes and shapes. The connection means include a cavity with thread, locking opening, or locking rib that provides a uniform attachment method for all tools, eliminating the need for multiple specialized grippers and enabling rapid tool exchange while maintaining secure holding for each tool type
2Device complexity
If the tool can rotate freely on the manipulator, then the gripper design is simpler, but the control logic cannot determine the exact tool position for reliable insertion
Solution Approach 1:
The invention applies asymmetry by designing a non-rotationally symmetric connection interface. The cavity includes asymmetric features such as thread, locking opening, or locking rib that prevent the tool from rotating on the manipulator. This asymmetric design uniquely determines the tool's angular position, enabling the control logic to know the exact orientation for reliable insertion while maintaining a relatively simple gripper structure
3Ease of operation
If the connection means are arranged on the outer surface of the tool, then the connection is accessible, but the outer geometry must be standardized which limits tool design flexibility
Solution Approach 1:
The invention applies nesting by placing the connection means inside the tool body rather than on the outer surface. The cavity with locking features is arranged within the tool, allowing the outer geometry of the tool to vary freely for different applications while the internal connection interface provides standardized, accessible connection points. This enables the manipulator to approach from suitable directions while maintaining tool design flexibility
Data Source
Figure 1A~1B
Figure 2
Figure 3
AI summary
The invention relates to an exchangeable tool having a tool body with a receiving end for holding the tool in a receiving structure, wherein connecting means are arranged in the tool body for providing a substantially ncn-rotatable connection with a manipulator for manipulating the tool into and out from the receiving structure, to a combination of such tool with a manipulator for manipulating the tool into and out from a receiving structure, and to a method for manipulating such tool into and out from a receiving structure.