Modular Tool Holder System for UGVs
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Solution Overview
Problem
Remotely operated devices, such as UGVs, face challenges in quickly and efficiently exchanging tools during high-stress operations due to low precision arms and harsh environments, where existing systems lack adaptability and reliability in tool change and operation.
Innovation Solution
A modular tool holder system with interchangeable modules, featuring a locking mechanism protected from damage, alignment guides for misalignment correction, and non-contact power and data interfaces, allowing for easy tool selection and operation without prior knowledge of tool characteristics, enabling efficient and reliable tool exchange and operation in harsh conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic arm equips a different tool, then the device can adapt to different situations, but the tool exchange process takes time which is not desirable during high-stress operations
Solution Approach 1:
The tool holder is divided into separate modular components including a quick-release mechanism with independent locking elements. Each tool can be independently attached or detached without affecting other tools in the system, enabling rapid tool exchange by simply releasing the locking mechanism and swapping the tool module.
Solution Approach 2:
Multiple tools are pre-loaded into tool holder modules that are ready for immediate deployment. The quick-release mechanism is pre-configured with alignment guides and locking elements in position, so when a tool needs to be exchanged, the operator simply needs to release the lock and swap the pre-prepared tool module without complex adjustment or preparation steps.
2Reliability
If a robotic arm with low precision is used, then the device can operate in harsh environments, but alignment between the tool and module is difficult
Solution Approach 1:
The alignment system employs conical surfaces with precise angular geometry to guide tool insertion. The conical alignment surfaces automatically self-align the tool with the module axis even when there are initial positioning errors, compensating for low robotic arm precision through geometric constraint rather than requiring high-precision positioning.
Solution Approach 2:
Alignment guides act as an intermediary element between the robotic arm and the tool. These guides provide mechanical constraint and direction, mediating the connection between the low-precision arm and the high-precision tool interface, ensuring proper alignment without requiring the arm itself to achieve high precision.
3Reliability
If a locking mechanism is used to secure the tool, then the tool connection is reliable, but the mechanism may be damaged due to roll-over or harsh conditions
Solution Approach 1:
The locking mechanism includes hardened surfaces and impact-absorbing features designed to withstand harsh environmental conditions including roll-over events. The mechanical design incorporates stress distribution elements and protective geometry that cushion against impact forces, allowing the locking mechanism to maintain reliability even when exposed to damaging environmental factors.
4Productivity
If angular, axial, and rotational mismatch between head and tool occurs, then the tool can be quickly exchanged, but connection accuracy deteriorates
Solution Approach 1:
Conical alignment surfaces with precise angular geometry automatically correct angular, axial, and rotational mismatches during tool insertion. The conical geometry provides self-aligning action that guides the tool into proper orientation regardless of initial positioning errors, maintaining connection accuracy while enabling quick exchange without requiring precise pre-positioning.
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 tool selection and adaptation on UGVs, ensuring reliable operation in harsh environments with low precision arms, reducing operator workload and maintaining system efficiency and safety during high-stress missions.
Implementation Method 1
The head connection assembly has a cone/funnel shape that receives a corresponding conic-shaped section on the tool. The corresponding conic shapes allow for correction of angular, axial, and rotational mismatch between head and tool.
Implementation Method 2
A locking mechanism, in some embodiments, secures the tool to the module. The mechanism may be protected from damage due to roll-over, etc.
Implementation Method 3
RFID tags embedded in tools, manipulators, or sensors, provide identification of the device as well as device characteristics and GUI configurations.
Implementation Method 4
non-contact robotic manipulator power and data interface that uses inductive coupling between a robotic arm and a device to provide power to the device and communications to/from the device
Implementation Method 5
non-contact robotic manipulator power and data interface that uses inductive coupling between a robotic arm and a device to provide power to the device and communications to/from the device
Data Source
AI summary
Systems and methods for mounting and using various different accessories on a robotic system such as a unmanned ground vehicle (UGV). A tool library may include interchangeable modules, each module having a number of tool holders. Electronic components may be mounted to each of the modules adjacent to each of the of tool holders that identify the module and tool that is associated with the tool holder. The UGV may have a reader that is capable of reading the electronic components to determine the module and tools that are available for use on the UGV.