Robot Arm Coupling Device Automatic Detachment Mechanism
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Solution Overview
Problem
Existing robot arm coupling devices require manual effort and are time-consuming when exchanging tools, as they cannot automatically detach if the coupling surfaces are not horizontal, limiting their use in environments where posture control is restricted.
Innovation Solution
A robot arm coupling device featuring a cam member with locking and unlocking balls and tapered surfaces, along with a cylinder member and compression spring, allows for automatic detachment of tools regardless of the coupling surface orientation by using air passages and nozzles to shift the cam member between locking and unlocking positions, facilitating easy and quick tool exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the coupling device uses only ball members and tapered surfaces for locking, then the structure is simple, but automatic detachment is not possible when the coupling surface is not horizontal
Solution Approach 1:
The coupling device is divided into two independent ball members (first ball member for locking, second ball member for detachment) that operate separately but cooperatively. This segmentation allows each ball member to have a specialized function, enabling automatic detachment while maintaining structural simplicity through modular design
Solution Approach 2:
The cam member acts as an intermediary element that translates the unlocking motion into separate actions: pressing the first ball member against the tapered surface for locking, and pressing the second ball member against the flat surface for detachment. This intermediary mechanism enables automatic operation without requiring complex direct coupling between the actuator and both ball members
2Adaptability or versatility
If the coupling surface is not horizontal, then the device can be used in various orientations, but the tool plate cannot separate automatically and requires manual intervention
Solution Approach 1:
The second ball member is designed to work with the flat surface to enable self-service automatic detachment. When the cam member presses the second ball member against the flat surface, the tool plate is automatically pushed away from the arm side attachment without requiring manual pulling or positioning, allowing the system to detach itself in any orientation
Solution Approach 2:
The solution introduces a new dimension of operation by adding the second ball member that operates in a different direction than the first ball member. While the first ball member handles radial locking forces, the second ball member handles axial detachment forces, creating a two-dimensional separation of functions that enables automatic detachment regardless of coupling surface orientation
3Productivity
If manual pulling is required for detachment, then the locking mechanism is simple, but the exchange work becomes troublesome and time-consuming
Solution Approach 1:
The cam member continuously performs useful action during the unlocking process by sequentially pressing the first ball member for locking release and then the second ball member for detachment. This continuous action eliminates idle time and manual intervention steps, maintaining productive motion throughout the entire detachment sequence
Solution Approach 2:
The locking and detachment functions are prepared in advance through the mechanical design of the cam member geometry and ball member positions. The cam member's shape预先 configures the sequence of operations, so that when actuated, the locking is released and detachment is initiated in the correct sequence without requiring complex control logic or manual timing
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 automatic and efficient tool exchange without manual intervention, even when the coupling surfaces are not horizontal, reducing the time and effort required for tool detachment and attachment operations.
Implementation Method 1
a compression spring, which is configured to urge the cam member in the direction of the locking position
Implementation Method 2
a cylinder member, the piston of which is slidable in the cylinder room between a retracted position and an extended position
Data Source
Figure 1
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Figure 3
AI summary
Even if the coupling surface of an arm side attachment (3) and a tool side attachment (5) is directed in a direction other than the horizontal direction, the tool side attachment can be automatically separated and detached from the arm side attachment. When exchanging a tool, the worker does not have to forcibly pull out and detach a tool side attachment from an arm side attachment, a tool can be exchanged automatically, and the exchange work can be performed easily in a short period of time. When the cam member (17) is shifted from the unlocking position to the locking position, locking balls (13) which slide on locking inclined tapered surfaces (17a) to be shifted to the outside along the radius direction are engaged with engaging inclined tapered surface (23a) so as to mutually couple an arm side attachment (3) and a tool side attachment (5). When the cam member (17) is shifted from the locking position to the unlocking position, the engagement of the locking balls (13) with respect to the engaging inclined tapered surfaces (23a) is released, and unlocking balls (15) which slide on thrusting inclined tapered surfaces (17b) to be shifted to the outside along the radius direction slide on the separating inclined tapered surfaces (23b) to enable to thrust the tool side attachment (5) from the arm side attachment (3).