Robotic Tool Changer Pneumatic Interlock for Safe Uncoupling
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Solution Overview
Problem
Robotic tool changers face safety hazards due to energy supply fluctuations, leading to unsafe uncoupling conditions, and existing redundancy mechanisms are insufficient to prevent dangerous situations.
Innovation Solution
A tool changer device with a robot adapter equipped with differential pressure sensors and a safety control module that ensures uncoupling can only occur when safety conditions are met, using pneumatic logic and bi-stable pneumatic solenoid valves to prevent unsafe uncoupling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If tool uncoupling is allowed during movement or in non-parking positions, then operational efficiency is improved, but safety hazards increase due to potential dangerous uncoupling conditions
Solution Approach 1:
The safety control system performs preliminary checks of multiple conditions (energy supply parameters, robot position, tool coupling status) before allowing uncoupling operations. The control unit verifies that all safety criteria are met prior to executing uncoupling, preventing dangerous operations from occurring in the first place rather than relying on post-action safety mechanisms.
Solution Approach 2:
The patent implements dynamic safety control that adapts uncoupling permissions based on real-time operational conditions. The system can dynamically adjust which positions and conditions permit uncoupling, allowing flexible operation when safe while preventing uncoupling when hazards are present, rather than using fixed restrictive rules.
2Reliability
If energy supply parameters are monitored to prevent unsafe uncoupling, then safety is improved, but device complexity increases due to additional sensors and control systems
Solution Approach 1:
The safety control system is designed to monitor multiple energy supply parameters (pneumatic pressure, electrical power, hydraulic pressure) using a single integrated control unit that handles all monitoring and decision-making functions. This multi-functional approach consolidates what could be separate complex systems into one unified controller, reducing overall system complexity while maintaining comprehensive safety monitoring.
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
Enhances safety by directly detecting coupled and uncoupled positions, preventing uncoupling in unsafe conditions, and ensuring that tools are released only in designated locations, thereby reducing the risk of accidents.
Implementation Method 1
a first differential pressure sensor connected to at least two of the through conduits, and a second differential pressure sensor connected to another two of the through conduits
Implementation Method 2
a pneumatic cylinder inside which a piston is slidably arranged for activating a coupling and uncoupling mechanism
Data Source
AI summary
A tool changer device for a robotic arm comprising a robot adapter (1) particularly adapted to be connected to a robotic arm (5) and to a tool (6). The robot adapter (1) comprises a pneumatic cylinder (117) inside which a piston (116) is slidably arranged for activating a coupling and uncoupling mechanism (120) of the robotic arm (5) to the tool (6). On one of the walls of the robot adapter (1) at least four through conduits (24, 25, 26, 27) are arranged, one end of which opens into the pneumatic cylinder (117) and another end of which opens outside of the pneumatic cylinder (117). The device further comprises a first differential pressure sensor (18) connected to at least two of the through conduits (24, 25), and a second differential pressure sensor (19) connected to another two of the through conduits (26, 27).