Robotic Tool Attachment for Autonomous End Effector Switching
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Solution Overview
Problem
Existing robotic manipulators require complex and time-consuming processes to change end effectors for different functions, which are costly due to low manufacturing tolerances and the need for trained personnel, limiting their functionality and autonomy, especially in applications like unmanned underwater vehicles.
Innovation Solution
A tool attachment system for robotic manipulators that allows rapid, remote, and autonomous switching of tools without replacing the end effector, featuring a housing that prevents relative rotational movement and includes a transmission unit for varying rotational speeds and offsets, enabling engagement via an input shaft by the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If end effectors are replaced to change robotic manipulator functions, then functionality is improved, but the process becomes complex and time-consuming
Solution Approach 1:
The system divides the tool attachment into a modular structure with a housing, input shaft, output shaft, and tool as separate but connected components. This segmentation allows the tool to be quickly exchanged while the housing and connection mechanisms remain, enabling rapid tool changing without replacing the entire end effector assembly.
Solution Approach 2:
The housing and connection mechanism are designed as universal components that can accommodate multiple different tools through the standardized input shaft interface. This multi-functionality allows a single end effector assembly to perform various tasks by simply changing the tool component, rather than replacing the entire end effector.
2Adaptability or versatility
If end effectors are replaced to change robotic manipulator functions, then functionality is improved, but manufacturing costs increase due to low tolerances and complex manufacturing
Solution Approach 1:
By segmenting the tool attachment into modular components, the system reduces manufacturing complexity. Each component can be manufactured independently with standard tolerances, avoiding the need for highly precise, custom-manufactured end effectors for each specific function.
Solution Approach 2:
The universal housing and connection mechanism serve multiple functions across different tool configurations, reducing the total number of unique parts that need to be manufactured. This economies-of-scale approach lowers overall manufacturing costs compared to producing specialized end effectors for each function.
3Adaptability or versatility
If adapters are added to increase degrees of freedom, then functionality is improved, but device complexity increases
Solution Approach 1:
The invention merges the adapter functionality directly into the tool attachment housing and connection mechanism. Rather than adding separate adapter components to increase degrees of freedom, the housing itself is designed to provide the necessary mechanical coupling and movement capabilities, simplifying the overall system architecture.
4Reliability
If trained personnel are used for end effector replacement, then reliability is improved, but automation level decreases
Solution Approach 1:
The standardized interface and modular design enable the robotic manipulator to perform tool changes autonomously without human intervention. The manipulator can grasp the tool, detach it from the housing, and attach a new tool using its own actuators and sensors, making the system self-sufficient for tool replacement operations.
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A tool attachment (200) for a robotic manipulator (100), comprising: a housing (202), an input shaft (208) configured to be engaged by an end effector (105) of the robotic manipulator (100), an output shaft (210), and a tool (214) coupled to the output shaft (210). The housing (202) comprises means (206) for preventing relative rotational movement between the housing (202) and a housing of the robotic manipulator (100). Upon engagement of the end effector (105) of the robotic manipulator (100) with the input shaft (208), the tool attachment (200) is retained on the robotic manipulator (100), and rotational movement of the end effector (105) of the robotic manipulator (100) acts to rotate said input shaft (208) and drive said tool (214).