Robot Arm Tool Coupling With Passive Mechanical Locking
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Solution Overview
Problem
Existing robot arm tool changers require additional power sources, increase weight, and reduce automation due to the need for manual intervention, limiting the efficiency and autonomy of robotic systems.
Innovation Solution
A method involving a simple mechanical process using tenons and notches, combined with motorized movements, allows tools to be quickly and automatically attached to a robot arm without external energy sources, ensuring secure and efficient tool changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an automatic tool changer with pneumatic power source and actuator is used, then tool engagement is secure, but weight and device complexity increase
Solution Approach 1:
The patent removes the pneumatic power source and actuator from the tool changer system, extracting the heavy components that cause weight increase. Instead, it uses a passive mechanical locking mechanism with spring-loaded locking pieces that engage automatically when the tool is inserted, achieving secure tool engagement without the need for powered actuators.
Solution Approach 2:
The tool changer is designed to be self-servicing through automatic spring-loaded locking pieces that engage with the tool's locking features upon insertion. The system uses the insertion motion itself to trigger the locking mechanism, eliminating the need for external power sources and complex control systems while maintaining reliable tool engagement.
2Weight of moving object
If a manual tool changer is used, then weight and device complexity are reduced, but automation level decreases and manual labor is required
Solution Approach 1:
The patent implements a self-servicing automatic tool changer where the locking mechanism activates automatically upon tool insertion. The spring-loaded locking pieces engage with the tool's features without requiring manual intervention, achieving full automation while keeping the system lightweight and simple in structure.
3Adaptability or versatility
If multiple tools are carried by the robot arm, then tool availability is improved, but weight and size increase
Solution Approach 1:
The patent implements a tool changer system where multiple tools are stored in a compact arrangement, likely nested or stacked configurations. The tools can be quickly exchanged without requiring the robot arm to carry all tools simultaneously, reducing weight while maintaining tool availability through the changer mechanism.
4Reliability
If a tool changer with powered actuator is used, then tool engagement is secure, but control complexity and wiring requirements increase
Solution Approach 1:
The patent extracts the powered actuator and associated control systems from the tool changer, eliminating the need for wiring and complex control electronics. Instead, it employs a passive mechanical locking system with spring-loaded pieces that engage automatically, achieving secure tool engagement with minimal control complexity.
Data Source
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AI summary
The invention relates to a method for attaching a tool (20) to an arm (10) of a robot (1), comprising at least the following steps: - transitioning from a relative approach position to a relative integration position by a relative translational movement (MI) between the tool (20) and the arm (10) of the robot (1) parallel to a reference axis (AI) of the arm (10) of the robot (1), such that the reference axis (AI) of the arm (10) of the robot (1) is coaxial with a reference axis (A2) of the tool (20), and so as to cause studs (30) to penetrate associated notches (40), each of the notches (40) being associated with a sub-assembly from among the tool (20) and the arm (10) of the robot (1) and associated with one of the studs (30) secured to the other sub-assembly from among the tool (20) and the arm (10) of the robot (1); then - transitioning from the relative integration position to a relative assembly position by a relative rotational movement (M2) between the tool (20) and the arm (10) of the robot (1) about the axis of rotation, such that each of the studs (30) becomes housed in a circumferential extension (41) of the associated notch (40) and is axially retained therein; then - locking in the relative assembly position by a relative translational movement (M3) parallel to the reference axis (AI) of the arm (10) of the robot (1), between the assembly formed by the tool (20) and the arm (10) of the robot (1) in the relative assembly position and at least one locking part (50), such that wedges (51) secured to the locking part (50) penetrate the notches (40) and lock the studs (30) in position, in the locking position.