Robot Tool Changer With Rotary Dual-Phase Locking
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Solution Overview
Problem
Existing tool changers for robots require locking elements that apply force with a high degree of force but move slowly, leading to high wear and inefficiency.
Innovation Solution
A tool changer design featuring a rotary element coupled to an axially movable actuation element, with lever arms and pivot pins, allowing locking elements to cover long distances with minimal force and switch to high force in the locking position, using a threaded rod and rotary tool for automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If locking elements are designed to apply high force against receptacles, then locking reliability is improved, but the speed of locking element movement decreases
Solution Approach 1:
The locking mechanism transitions from a static force application to a dynamic process where the locking elements are rapidly accelerated and then held in position. The rotary element provides dynamic actuation that enables both high-speed movement and high-force locking through controlled temporal phases of the locking cycle.
Solution Approach 2:
The system prepares for high-force locking by first rapidly positioning the locking elements into engagement with the receptacles, then applying the holding force. This preliminary rapid positioning action separates the movement phase from the force application phase, allowing high speed during movement and high force during locking without compromise.
2Productivity
If locking elements move quickly over long distances, then productivity is improved, but the force applied during locking decreases
Solution Approach 1:
The locking elements are rapidly transported over long distances to their engagement position with the receptacles before the actual locking force is applied. This preliminary rapid movement phase enables high productivity, followed by a separate force application phase that ensures adequate locking force, thus resolving the contradiction between speed and force.
Solution Approach 2:
The system employs dynamic control where the locking elements undergo rapid acceleration and deceleration cycles. The rotary element's rotational motion is converted into reciprocating linear motion that enables fast traversal followed by controlled engagement, achieving both high productivity and sufficient locking force through temporal separation of these functions.
3Reliability
If locking elements are moved rapidly with minimal force, then wear is reduced, but the ability to maintain secure locking is compromised
Solution Approach 1:
The locking elements are rapidly positioned into engagement with minimal force applied during the movement phase, minimizing wear. Once positioned, the system then applies the necessary holding force to maintain secure locking. This temporal separation ensures that wear occurs only during brief positioning moments while locking security is maintained during the holding phase.
Solution Approach 2:
The locking elements rapidly traverse the engagement distance with minimal resistance and force applied during the movement phase, minimizing wear through the action. The system then transitions to a holding phase where the locking force is maintained to ensure security, thus skipping the harmful high-force movement phase while maintaining locking reliability.
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 rapid and efficient locking/unlocking with reduced wear, accommodating manufacturing tolerances, and facilitating automated operation.
Implementation Method 1
using a threaded rod and rotary tool for automated operation
Data Source
AI summary
The invention relates to a tool changer for a robot, including a base unit, a changing unit, which can be locked on the base unit, movable locking elements, which are provided on the base unit, receptacles, which are provided on the changing unit, the locking elements interacting, in a locking position, with the receptacles in order to lock the changing unit on the base unit and releasing, in an unlocking position, the receptacles, and a rotary element, which is provided on the base unit and is mounted for rotation about the longitudinal axis of the rotary element, the locking elements being movement-coupled to the rotary element in such a way that the locking elements are moved when the rotary element is rotated.