Robot Tool Coupling with Ball Locking for Flexible Tool Changes
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Solution Overview
Problem
Existing tool coupling devices for robots require significant effort to change tools, especially when transitioning between pneumatically controlled and manually operated systems, leading to inefficiencies in tool management and increased stock requirements.
Innovation Solution
A tool coupling device with two interchangeable coupling subdevices, one on the robot arm and one on the tool, featuring a coupling socket with ball channels and an actuating body for locking, which can be operated by an electric motor, manual lever, or pneumatic actuation, ensuring flexibility and safety in tool changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If different types of tool coupling devices are used for pneumatic and manual tool changing, then each system can be optimized for its specific operation mode, but the number of tools to be kept in stock increases and flexibility decreases
Solution Approach 1:
The coupling subdevice is designed with a universal interface that can be operated through multiple actuation methods (pneumatic, electric, or manual). The coupling socket with ball channels and actuating body can function with different actuator types, allowing the same tool coupling device to serve both pneumatic and manual tool changing operations without requiring separate specialized devices for each operation mode.
2Extent of automation
If specialized pneumatic tool coupling devices are used, then automated tool changing can be achieved, but the device complexity increases and manual operation becomes difficult
Solution Approach 1:
The coupling subdevice incorporates a self-contained actuating mechanism where the actuating body directly interacts with the ball bodies in the coupling socket. This design allows the system to be self-sufficient and adaptable - it can accept automated pneumatic actuation through a pneumatic cylinder or be manually operated by directly manipulating the actuating body, eliminating the need for complex specialized mechanisms for each operation mode.
3Ease of operation
If specialized manual tool coupling devices are used, then ease of manual operation is achieved, but automated tool changing becomes difficult
Solution Approach 1:
The coupling mechanism features a dynamic actuating body that can be displaced along the actuation direction and positioned in different states (coupling end position or other positions). This dynamic design allows the same mechanical structure to accommodate both manual manipulation and automated pneumatic actuation, as the actuating body responds appropriately to either type of input force without requiring specialized configuration.
4Reliability
If multiple specialized coupling devices are maintained for different robots, then each robot can have optimized tool changing, but the quantity of tools and coupling devices to manage increases
Solution Approach 1:
The tool coupling device is divided into separate coupling subdevices that can be independently attached to the robot arm or tool. This segmentation allows the coupling interface to be standardized and interchangeable across different robots, reducing the need for robot-specific coupling devices. The coupling subdevice on the robot arm can work with any tool equipped with the corresponding coupling interface, thereby reducing the total number of coupling devices that need to be managed across the robot fleet.
Data Source
AI summary
Tool coupling device with two coupling subdevices, wherein one of the coupling subdevices is intended for the distal end of a robot arm, and the other coupling subdevice is intended to be provided on a tool which can be coupled to the robot arm. The coupling subdevices are uncouplable from and to each other for the purpose of tool changing. A first of the coupling subdevices has a coupling socket extending in a coupling direction for insertion into a coupling recess of a second coupling subdevice. A plurality of ball channels are provided, within each of which a ball body is arranged as a locking body. The ball bodies are movable between a radially extended coupling position and a radially retracted release position. An actuating body for securing the ball bodies in the extended position is displaceable by an electric motor or a manual control lever.