Robotic End-Effector with Screw Clamp Reconfiguration
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Solution Overview
Problem
Current industrial robot end-effector designs are limited by their adjustability and space utilization, making them less than optimal for handling diverse components such as contoured body panels and flat glass panes, and they lack efficient reconfiguration capabilities.
Innovation Solution
A robotic system with a multi-axis robot, a reconfigurable end-effector assembly, and a configuration tool that allows automatic adjustment of tool modules using screw clamp mechanisms and a bi-directional clutch assembly, enabling quick reconfiguration and simultaneous engagement with both the robot and a configuration stand for various work tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional self-locking clutches or calipers are used in end-effector assemblies, then the structure is simple and reliable, but the adjustability and reconfiguration capability are limited
Solution Approach 1:
The patent applies dynamics by replacing static self-locking clutches with dynamic screw clamp mechanisms that can be selectively adjusted and reconfigured. The screw clamps allow the end-effector to transition between different operational states (locked/unlocked, adjusted positions) enabling adaptability while maintaining structural integrity through controlled mechanical movement.
Solution Approach 2:
The end-effector assembly is segmented into multiple tool modules that can be independently adjusted and reconfigured using individual screw clamp mechanisms. This segmentation allows each tool module to be optimized for specific tasks while maintaining overall system versatility, resolving the contradiction between adaptability and structural simplicity.
2Productivity
If manually adjusted end-effector configurations are used, then the setup time is acceptable, but the reconfiguration speed and efficiency are insufficient for diverse work tasks
Solution Approach 1:
The robot system performs self-configuration of the end-effector by automatically adjusting the screw clamps and positioning tool modules according to pre-programmed parameters. This self-service capability eliminates manual intervention, significantly reducing setup time while maintaining precise configuration for diverse work tasks.
Solution Approach 2:
The system uses pre-programmed configuration data and pre-positioned tool modules that can be quickly deployed. By preparing configuration parameters in advance and having tool modules pre-arranged on the lattice structure, the system minimizes reconfiguration time when transitioning between different work tasks.
3Adaptability or versatility
If fixed end-effector designs are used, then the manufacturing cost is low, but the versatility for handling different components is limited
Solution Approach 1:
The patent implements a universal end-effector design using a lattice structure with multiple tool modules that can handle various work pieces including contoured body panels and flat glass panes. The screw clamp mechanisms provide universal adjustability across different tool modules, enabling one end-effector assembly to perform multiple functions rather than requiring separate specialized tools for each task type.
4Adaptability or versatility
If additional tool modules are added to increase capability, then the versatility improves, but the space utilization and system weight increase
Solution Approach 1:
The end-effector employs a nested lattice structure where tool modules can be positioned at different levels and depths within the lattice framework. This nesting approach allows multiple tool modules to be integrated in a compact arrangement, increasing capability range while minimizing the overall footprint and weight of the end-effector assembly.
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
The system provides enhanced adjustability and space efficiency, allowing the robot to handle a wide range of components with improved cost and weight advantages, enabling efficient processing of different work pieces by automatically configuring the end-effector assembly in response to control signals.
Implementation Method 1
The bi-directional clutch assembly may be pneumatically-locked or unlocked in some embodiments
Implementation Method 2
each tool module is automatically unclamped, moved, and re-clamped with screw clamp mechanisms configured as a set of linear and/or linear/rotary joint locks
Implementation Method 3
The robot may be programmed to deposit the end-effector onto a configuration stand, whether suspended above or mounted to a floor or machine column
Data Source
AI summary
A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.