Flexible Arm Tool Holder for Mobile Manipulators
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Solution Overview
Problem
Existing mobile manipulators face challenges in easily attaching and replacing tools due to the requirement of high dexterity and time-consuming screw-based attachment methods, which limits their operational efficiency.
Innovation Solution
A tool holder assembly comprising flexible arms and slots that apply an elastic force to hold the parts in cooperation, allowing for quick and easy mounting or replacing of tools by inserting portions of the flexible arms into slots, eliminating the need for fixed or screw-based attachments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If screw-based attachment methods are used to attach tools to manipulator arms, then the connection strength and reliability are improved, but the time required for attachment and replacement increases significantly and high dexterity is required
Solution Approach 1:
The attachment system is divided into two separate parts: a tool holder assembly attached to the manipulator arm, and a tool assembly with corresponding engagement features. This segmentation allows the tool holder to remain fixed on the manipulator while enabling rapid tool changes by simply attaching or detaching the tool assembly, eliminating the need for time-consuming screw operations.
Solution Approach 2:
The attachment mechanism employs spring-loaded plunger elements that automatically engage with corresponding slots on the tool assembly when brought together. This self-service mechanism eliminates the need for manual screw tightening, as the spring force automatically secures the connection, reducing both attachment time and the dexterity required.
2Reliability
If screw-based attachment methods are used to attach tools to manipulator arms, then the connection strength and reliability are improved, but the operational efficiency decreases due to time-consuming attachment and replacement processes
Solution Approach 1:
The tool holder assembly is pre-equipped with spring-loaded plunger elements and guide brackets positioned in advance. When a tool is brought to the holder, these pre-positioned elements automatically align and engage with the tool's slots, enabling rapid attachment without requiring time-consuming alignment or manual fastening operations, thus improving operational efficiency.
Solution Approach 2:
The attachment system transitions from a static screw-based mechanism to a dynamic spring-loaded mechanism. The spring plunger elements can rapidly extend and engage with tool slots, and can be quickly released for tool replacement. This dynamic mechanism significantly reduces attachment time while maintaining reliable connection strength, thereby improving productivity.
3Strength
If small screws are used to attach tools to manipulator arms with small dimensions, then the connection strength is maintained, but the ease of operation decreases due to the requirement of high dexterity
Solution Approach 1:
The spring-loaded plunger elements act as intermediaries between the tool holder and the tool assembly. Instead of directly manipulating small screws, the operator simply brings the tool into proximity with the holder, and the spring plunger elements automatically engage with the tool slots. This intermediary mechanism maintains connection strength while dramatically improving ease of operation.
Solution Approach 2:
The manual screw-based mechanical fastening system is replaced with an elastic spring-loaded engagement system. The spring force provides the necessary connection strength without requiring manual manipulation of small fasteners. This substitution eliminates the dexterity requirement while maintaining adequate attachment strength for small-dimensional manipulator arms.
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
Enables rapid and effortless tool exchange on mobile manipulators, enhancing operational efficiency and reducing the need for high dexterity, as the elastic force of the flexible arms securely holds the parts in mechanical cooperation.
Implementation Method 1
the first and second flexible arms of each part may be in a flexed position, so that the first and second flexible arms of the first part may apply an elastic force to the second part and the first and second flexible arms of the second part may apply an elastic force to the first part
Data Source
AI summary
A tool holder assembly, comprising, a first part (30) which is configured such that it is attachable to a mobile vehicle (50); and a second part (31) which is configured to cooperate with a tool (6); wherein the first and second parts (30,31) each comprises, a first flexible arm (8,10) and a second flexible arm (9,11) and one or more slots (14,15); wherein the first and second parts (30,31) are configured such that they can be arranged so that at least a portion (16,17,18,19) of the first and second flexible arms (8,9,10,11) of the each of the first and second parts (30,31) may be simultaneously received into the one or more slots (14,15) of the other part (30,31); and such that when the portion (16,17,18,19) of the first and second flexible arms (8,9,10,11) of the each of the first and second parts (30,31) are simultaneously received into the one or more slots (14,15) of the other part (30,31), the first and second flexible arms (8,9,10,11) of each part (30,31) are in a flexed position so that an elastic force of the flexible arms (8,9,10,11) hold the first and second parts (30,31) in cooperation.