Robotic End Effector Quick Change Using Magnetic Coupling

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Solution Overview

Problem

Existing robotic manipulators require additional actuators and complex locking systems for quick change tool heads or end effectors, increasing volume, mass, and control complexity, which is costly and inefficient.

Innovation Solution

A magnetic coupling system between the robotic end effector and drive motor assembly using concentric magnetic elements for easy engagement and disengagement, eliminating the need for additional actuators and reducing complexity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If additional actuators and mechanical locking systems are used for quick change end effectors, then reliable engagement is achieved, but device complexity and volume increase

Engineering Contradiction:

Improveengagement reliabilityVSAvoidlocking system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces traditional mechanical locking systems and actuators with a magnetic coupling mechanism. The magnetic element in the drive motor assembly and mating magnetic element in the end effector create automatic magnetic attraction for engagement, eliminating the need for complex mechanical locks and additional actuators while maintaining reliable connection.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The magnetic coupling system enables self-aligning and self-locking engagement. When the end effector approaches the drive motor assembly, the magnetic attraction automatically guides and secures the connection without requiring external actuators or complex control systems, making the system self-servicing for the engagement function.

Inventive Principle:

Principle #25Self-service

2Reliability

If additional actuators are added for end effector locking, then secure attachment is achieved, but volume and mass at the manipulator end increase

Engineering Contradiction:

Improveattachment securityVSAvoidend effector volume

Core Design Contradiction:

ReliabilityVSVolume of moving object

Solution Approach 1:

The patent substitutes bulky mechanical locking actuators with a compact magnetic coupling system. The magnetic elements generate sufficient holding force within a small volume, eliminating the need for large actuators and reducing the overall volume at the manipulator end while maintaining secure attachment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If pneumatic or electrical locking systems are used, then end effector engagement is achieved, but additional controls and cost are required

Engineering Contradiction:

Improveengagement capabilityVSAvoidcontrol system complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent replaces pneumatic and electrical locking systems with a passive magnetic coupling mechanism. The magnetic attraction automatically engages the end effector when brought near the drive motor assembly, eliminating the need for pneumatic valves, electrical solenoids, and associated control circuits, thereby simplifying the control system.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Productivity

If traditional locking mechanisms are used for quick change tools, then tool replacement is achieved, but operation time and complexity increase

Engineering Contradiction:

Improvetool replacement speedVSAvoidoperational simplicity

Core Design Contradiction:

ProductivityVSEase of operation

Solution Approach 1:

The magnetic coupling system automatically performs the engagement function when the end effector is brought near the drive motor assembly. The magnetic attraction self-aligns and secures the connection without requiring manual manipulation of locks or switches, enabling quick tool replacement while maintaining operational simplicity.

Inventive Principle:

Principle #25Self-service

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 quick and efficient attachment and detachment of end effectors with minimal force, reducing costs and complexity, while maintaining secure engagement through magnetic attraction and antirotation mechanisms.

Implementation Method 1

The magnetic element and mating magnetic element are separably engaged by mutual magnetic attraction to couple the end effector to the drive motor assembly

Methodology Applied

Scientific EffectMagnetic attraction: Magnetism

Data Source

PatentUS10335958B2Robotic end effector quick change mechanism with switchable magnetic coupler

Publication Date: 2019.07.02 THE BOEING CO

AI summary

A robotic end effector quick change coupling apparatus employs a drive motor assembly having a center drive interface. A coupling component having a magnetic element extends from the drive motor assembly concentric with the center drive interface. An end effector tool has a drive connection adapted to removably receive the center drive interface. A mating coupling component having a mating magnetic element extends from the end effector tool concentric with the drive connection. The magnetic element and mating magnetic element are separably engaged by mutual magnetic attraction to couple the end effector to the drive motor assembly.