Interchangeable Robot Finger Mount for Fast Tool Change
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Solution Overview
Problem
Existing robotic apparatuses require significant labor and time for manual setup changes, and existing solutions increase the size and weight of end effectors, leading to reduced mounting accuracy and increased vibration during tool interchange.
Innovation Solution
A robotic apparatus with a detachable interchangeable tool system featuring a robot-arm-side mount surface and an interchangeable-tool-side mount surface, utilizing a driving mechanism and opening and closing mechanism to facilitate tool interchange without the need for individual actuators, reducing the size and weight of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If individual actuators are provided for each interchangeable tool, then the tool can be driven independently, but the manufacturing cost increases and the interchanging time increases
Solution Approach 1:
A single actuator is designed to serve multiple interchangeable tools through a universal mounting mechanism. The actuator is positioned on the robot arm and connects to different tools via a standardized interface, allowing one actuator to drive multiple tools sequentially without requiring individual actuators for each tool.
Solution Approach 2:
The actuator and mounting mechanism are merged into an integrated assembly where the actuator serves both as the driving force and the mounting interface for interchangeable tools. This combination eliminates the need for separate actuators and reduces the complexity of the interchange system.
2Adaptability or versatility
If the end effector includes all necessary driving sources, then each tool can be driven independently, but the size and weight of the end effector increases
Solution Approach 1:
The actuator is extracted from the interchangeable tool and relocated to the robot arm or end effector body. This separation allows the tool to be lightweight and simple, while the driving capability is provided by the external actuator that remains with the robot system during tool changes.
Solution Approach 2:
A single actuator mounted on the robot arm provides driving capability for multiple different tools through a universal interface. This eliminates the need for each tool to have its own actuator, significantly reducing the total weight of the end effector system while maintaining the ability to drive various tools.
3Adaptability or versatility
If the end effector includes all necessary driving sources, then each tool can be driven independently, but the size of the end effector increases
Solution Approach 1:
The actuator is extracted from the interchangeable tool and positioned on the robot arm or end effector body. This allows the tool itself to be compact and minimal in size, while the driving mechanism occupies space in the robot arm where it does not increase the tool's volume.
Solution Approach 2:
A single actuator serves multiple tools through a standardized mounting interface, eliminating the need for duplicate actuators for each tool. This universal approach significantly reduces the total volume required for the end effector system while maintaining the capability to drive various tools.
4Adaptability or versatility
If manual setup change is performed by an operator, then the apparatus configuration can be changed, but much labor and time is required
Solution Approach 1:
The interchangeable tool system is designed to be self-matching with the robot arm through standardized interfaces including positioning pins and mounting holes. The tool can be automatically positioned and secured without requiring manual alignment or complex adjustment procedures, enabling rapid tool changes.
Solution Approach 2:
A universal mounting interface is designed for both the robot arm and interchangeable tools, allowing any tool to be quickly attached to any robot arm configuration. This standardization enables rapid tool changes without requiring manual setup or programming for each specific tool-arm combination.
Data Source
AI summary
An interchangeable tool including a finger of a shape suitable for various components is mechanically detachably mounted to a robot arm. This eliminates the need for seeking the origin of the actuator for each interchange. By interchanging fingers themselves, the entire end effector can be reduced in size and weight.