Robot Wrist Tool Adapter Reaction Force Alignment
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Solution Overview
Problem
Industrial robot wrists with tools experience quality issues due to reaction forces causing moment and potential interference with workpieces and peripheral objects, as existing configurations either lead to moment-induced deflection or increased distance, affecting operation quality and workability.
Innovation Solution
A tool adapter with a first and second rotary member configuration, where the reaction force direction intersects both axes, preventing moment-induced deflection and allowing the second rotary member to be positioned away from the tool, reducing interference and maintaining operation quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the position of the reaction force vector is made to coincide with the second axis of the support bracket, then the moment of force occurrence is avoided, but the distance from the first axis to the tool end increases causing interference with workpiece and peripheral objects
Solution Approach 1:
The patent introduces a third axis (third rotary member) in addition to the first two axes, creating a three-dimensional arrangement. By positioning the reaction force vector to intersect all three axes, the patent resolves the contradiction by adding a dimensional degree of freedom that allows the tool to be positioned closer to the first axis without causing wrist deflection from moments.
Solution Approach 2:
The third rotary member acts as an intermediary element between the first and second axes. It provides an additional rotational degree of freedom that enables the tool adapter to accommodate the reaction force through three intersecting axes, thereby eliminating moments while maintaining compact tool positioning that avoids interference with workpieces.
2Length of moving object
If the tool is mounted directly to the wrist, then the distance from the first axis to the tool end is minimized, but the reaction force causes moment of force about the first axis leading to wrist deflection
Solution Approach 1:
The tool adapter serves as an intermediary device between the wrist and the tool. It introduces additional rotary members and axes that intercept the reaction force before it reaches the wrist, converting potentially harmful moments into forces that can be accommodated by the adapter's multi-axis structure, thereby protecting the wrist from deflection.
Solution Approach 2:
The patent extracts the reaction force management function from the wrist itself and relocates it to the tool adapter. By positioning the reaction force vector to intersect three axes within the adapter, the harmful moments are eliminated at the adapter level, allowing the wrist to operate without experiencing deflection-causing moments.
3Ease of operation
If a support bracket is used to mount the tool in a swingable manner, then the tool can be positioned away from the wrist, but the reaction force creates moment of force about the first axis causing wrist deflection
Solution Approach 1:
The tool adapter acts as an intermediary that provides swingable tool mounting capability while simultaneously serving as a moment-elimination mechanism. The multiple rotary members and intersecting axes allow the tool to be positioned flexibly away from the wrist while the three-axis configuration intercepts and neutralizes reaction forces before they can create moments about the first axis.
Data Source
AI summary
A tool adapter configured to mount a tool on a robot wrist including a first rotary member rotatable about a first axis and a second rotary member rotatable about a second axis orthogonal to the first axis. The tool adapter includes a first section configured to be attached to the second rotary member at a first attaching portion; and a second section extending from the first section and configured to be attached to the tool at a second attaching portion. The first attaching portion and the second attaching portion are respectively disposed at positions where a direction of a reaction force applied to the second section through the tool from an object, during an operation performed to the object with use of the tool, is defined to intersect with both of the first axis and the second axis.