Robot Arm Tool Changer Gripper With Position-Error Compensation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot arm tool change systems face issues with position errors due to lack of degrees of freedom in tool changer grippers, leading to interference, wear, and potential damage during tool coupling and decoupling operations.
Innovation Solution
Implementing a tool changer gripper with a degree of freedom, allowing limited travel in one, two, or three dimensions, and equipped with a return force mechanism to overcome position errors and ensure smooth coupling and decoupling operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the device holder is fixed type without degrees of freedom, then the structure is simple and stable, but the position error of robot arm cannot be compensated leading to interference and potential damage between coupling units
Solution Approach 1:
The device holder is transformed from a fixed type to a movable type with degrees of freedom. The movable device holder can move along the vertical direction to compensate for position errors of the robot arm, ensuring accurate coupling between the first coupling unit and second coupling unit while maintaining system reliability.
Solution Approach 2:
The positional parameters of the device holder are made changeable through the introduction of degrees of freedom. By allowing the device holder to move vertically, the system can adjust its position to accommodate robot arm position errors, thereby improving coupling accuracy without requiring complex active control systems.
2Ease of operation
If the mounter is used to abut the structure, then the tool can be hung back, but the position error causes inaccurate positioning when changing tools
Solution Approach 1:
The device holder is designed with degrees of freedom to move vertically, allowing it to dynamically adjust its position to compensate for robot arm position errors. This ensures that the first coupling unit can accurately couple with the second coupling unit even when position errors occur during tool replacement operations.
Solution Approach 2:
The movable device holder acts as an intermediary between the fixed structure and the robot arm. It absorbs the position errors through its vertical movement capability, mediating the interaction between the robot arm's positioning and the tool coupling mechanism, thereby maintaining positioning accuracy.
3Productivity
If the robot arm follows preset working path, then the control is simple, but temperature changes and wear cause position errors leading to coupling failure
Solution Approach 1:
The device holder is equipped with degrees of freedom to move vertically, enabling it to dynamically compensate for position errors caused by temperature changes and wear. This passive compensation mechanism maintains coupling success rate without affecting the speed of tool change operations.
Solution Approach 2:
The system incorporates a movable device holder that can move vertically to cushion against position errors before they cause coupling failure. This beforehand cushioning mechanism prevents coupling failures by accommodating position deviations that occur during robot arm operation.
Data Source
AI summary
A method for performing a tool change with a robot arm. Providing a first coupling unit connected to a robot arm end shaft; providing a plurality of tool changer grippers and second coupling units detachably connected to the respective tool changer grippers; the robot arm end shaft driving the first coupling unit to be coupled with a selected second coupling unit and take the selected second coupling unit away from the corresponding tool changer gripper; the robot arm end shaft driving the first coupling unit coupled with the selected second coupling unit back to the corresponding tool changer gripper to be decoupled from the selected second coupling unit; enabling the corresponding tool changer gripper to have a degree of freedom; the corresponding tool changer gripper being self-displaced by the degree of freedom in the coupling operation and in the decoupling operation to overcome a position error.