Mechanical End-Effector Changer With Damping And Elastic Locking
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Solution Overview
Problem
Existing robotic end-effector changers are operationally inconvenient, pose safety risks due to potential thrust bearing loss, and require additional equipment and increased costs, such as compressed fluid systems, which complicate the change process and limit the weight and specifications of end-effectors.
Innovation Solution
A mechanical end-effector changer comprising a base frame with a damper and two connection units, utilizing a system of movable members and elastic members to enable rapid coupling and accurate separation, eliminating the need for external input sources and reducing operational complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a thrust bearing is used in the end-effector changer, then the connection strength between units is improved, but the safety risk increases when the bearing is lost during operation
Solution Approach 1:
The end-effector changer is divided into multiple independent connection units (first connection unit and second connection unit), each with its own bearing structure. This segmentation allows the system to maintain connection strength while distributing the risk, so that failure of one bearing does not compromise the entire system safety.
Solution Approach 2:
A movable member is introduced as an intermediary element between the bearing and the connection interfaces. This movable member can move relative to the bearing structure, providing a buffer that prevents direct transmission of harmful effects when the bearing is lost, thereby maintaining safety while preserving connection strength.
2Reliability
If compressed fluid systems are used to actuate rolling members, then the locking reliability is improved, but the device complexity and cost increase due to additional equipment
Solution Approach 1:
The end-effector changer uses the kinetic energy from the robotic arm's own movement to actuate the movable members and engage the locking mechanism. The system serves itself by converting the motion already present in the system into the locking action, eliminating the need for external compressed fluid systems while maintaining reliable locking.
Solution Approach 2:
The patent replaces the compressed fluid actuation system with a pure mechanical actuation system. The movable members are actuated by mechanical forces transmitted through the connection units during the end-effector change process, substituting complex pneumatic or hydraulic systems with simpler mechanical components.
3Ease of operation
If manually operated rotatable members are used to control positioning balls, then the ease of operation is improved, but the connection strength is insufficient limiting end-effector weight
Solution Approach 1:
The positioning balls are designed to move dynamically between different positions (engaged and disengaged states) rather than being fixed. The movable members controlling the positioning balls can move automatically during the connection process, providing both ease of operation and sufficient connection strength to handle heavier end-effectors.
4Power
If extra equipment and arrangements are added for compressed fluid application, then the actuation capability is improved, but the ease of operation and productivity are reduced due to increased complexity
Solution Approach 1:
The system uses the existing motion of the robotic arm and connection units to automatically actuate the locking mechanism. No external power sources or control systems are needed, as the connection process itself provides the energy and motion required for locking, thereby improving productivity while maintaining adequate actuation capability.
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
Facilitates efficient and safe end-effector changes by providing a damping effect for accurate separation and rapid coupling, reducing operational costs and improving efficiency without the need for additional equipment.
Implementation Method 1
The damper is mounted in the base frame, and adapted to provide a damping effect
Implementation Method 2
The first elastic member is mounted in the second chamber and stopped against the first movable member to impart a downward pressure to the first movable member
Implementation Method 3
The second elastic member is mounted in the first through hole and stopped against the second movable member to impart a pressure to the second movable member in direction away from the post of the first connection unit
Implementation Method 4
The third elastic member is mounted in the first through hole and stopped between the first movable member and the third movable member to move the first movable member and the third movable member in direction away from each other
Data Source
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AI summary
A mechanical end-effector changer (10) includes a first connection unit (40) and a second connection unit (50). The first connection unit (40) has mounted therein multiple movable members and mating elastic members. Subject to the linking relationship between each movable member and the respective elastic member, the first connection unit (40) and the second connection unit (50) can be automatically connected together or detached from each other, facilitating end-effector change.