Reconfigurable End-Effector Assembly for Fast Robot Tool Change
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Solution Overview
Problem
Traditional industrial robots require manual adjustment of end-effectors for specific work tasks, limiting their versatility and efficiency in handling different workpieces of varying sizes, shapes, and materials.
Innovation Solution
A reconfigurable end-effector assembly with a master boom, frame rail, and branch rails, secured by swing branch and swing arm locks, which can be automatically reconfigured using a configuration tool to adapt to different workpieces without manual flipping, allowing for flexible positioning and orientation of end tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual adjustment of end-effectors is used for specific work tasks, then the robot can perform precise operations, but the versatility and efficiency in handling different workpieces are limited
Solution Approach 1:
The end-effector assembly is divided into modular components including master boom, frame rail, branch rails, and interchangeable end tools that can be independently positioned and configured. This segmentation allows flexible reconfiguration for different workpieces without requiring complete end-effector replacement.
Solution Approach 2:
The system employs dynamically adjustable locking mechanisms (swing branch lock, swing arm lock) that enable the end-effector components to be quickly repositioned and secured in various configurations. The locks can be swung between locked and unlocked states, allowing rapid adaptation to different operational requirements.
2Productivity
If manual flipping and adjustment of end-effectors is required, then different work tasks can be performed, but system downtime and operational efficiency are reduced
Solution Approach 1:
Multiple end tools can be pre-positioned on the branch rails during setup phases, and the system allows quick switching between pre-configured positions. The locking mechanisms are designed to enable rapid transitions between pre-planned configurations, minimizing adjustment time during operations.
Solution Approach 2:
The end-effector assembly is designed with self-contained locking and positioning mechanisms that can be operated without external manual intervention. The swing locks and clamp assemblies enable operators to quickly reconfigure the system using simple hand operations, reducing the need for complex tooling and extended downtime.
3Adaptability or versatility
If fixed end-effector configurations are used, then the device structure is simple, but the ability to handle workpieces of varying sizes, shapes, and materials is limited
Solution Approach 1:
The end-effector assembly serves multiple functions through its reconfigurable architecture. The same master boom, frame rail, and branch rail structure can accommodate various end tools (grippers, suction cups, welding tools) and adjust to different workpiece geometries, eliminating the need for multiple dedicated fixtures.
Solution Approach 2:
The swing locks and clamp assemblies act as intermediary mechanisms between the fixed robot arm and the variable end tools. These intermediaries provide the flexibility needed to adapt to different workpieces while maintaining a stable connection to the robot's controlled motion system.
Data Source
AI summary
An end-effector assembly includes a master boom, a frame rail coupled thereto, and at least one branch rail movably coupled to the frame rail by a swing branch lock. The swing arm is movably coupled to the at least one branch rail by a swing arm lock. Each of the swing branch lock and the swing arm lock further includes a clamp configured to movably secure the branch rail to the frame rail or the swing arm to the branch rail. A pivot shaft extends through the clamp and is configured to rotationally secure the clamp in place. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. A locking fastener extends through the swing plate and into the pivot shaft and is configured to lock and unlock the clamp in position.