Robot End Effector Hot-Swapping With Dynamic Driver Loading
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Solution Overview
Problem
Industrial robots lack a versatile approach for dynamically replacing end effectors without requiring changes to the robot's control program, limiting their ability to adapt to tasks that demand finer control or different tools during operation.
Innovation Solution
The system allows for dynamic replacement of end effectors by using a 'driver' that is loaded and run during program execution when the corresponding end effector is detected, with a tool plate that can accommodate multiple types of end effectors and facilitates communication between the end effector and the robot controller, enabling self-configuration and operation without altering the main control program.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If end effectors are permanently selected during system integration, then the robot controller code can be written for specific end effector operation, but the robot cannot dynamically adapt to different tasks requiring different end effectors without rewriting control code
Solution Approach 1:
The patent divides the control system into two independent parts: a generic robot controller that handles common motion control, and end effector-specific drivers that are dynamically loaded. This segmentation allows the main controller to remain simple while enabling versatile end effector support through modular driver components.
Solution Approach 2:
The patent creates a universal robot controller framework that can operate with multiple different end effector types by dynamically loading appropriate drivers. The generic controller provides universal motion control capabilities, while interchangeable drivers provide specific end effector functionality, making the system adaptable to various tasks without code rewriting.
2Adaptability or versatility
If end effectors are changed dynamically during operation, then the robot can adapt to different tasks, but the system requires preprogrammed phases for replacement which limits operator flexibility
Solution Approach 1:
The patent implements a self-service mechanism where the robot controller automatically detects when an end effector is replaced and dynamically loads the appropriate driver without operator intervention for programming changes. The system self-configures by detecting the new end effector type and loading its corresponding driver, enabling arbitrary replacement by operators while maintaining automated adaptation.
3Adaptability or versatility
If the robot controller stores a library of drivers and dynamically loads them during execution, then arbitrary end effector replacement is enabled, but the system complexity increases
Solution Approach 1:
The patent segments the control software into a generic controller core and separate driver modules. The driver library stores isolated end effector-specific code that can be independently loaded and unloaded, reducing the complexity of the main controller while enabling support for multiple end effector types through modular driver management.
Solution Approach 2:
The patent introduces drivers as intermediary components between the generic robot controller and specific end effectors. These drivers act as translators that adapt generic control commands to end effector-specific operations, allowing the main controller to remain simple while supporting diverse end effectors through the intermediary driver layer.
Data Source
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Figure 1B
Figure 2A~2B
AI summary
Robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.