Robotic Tool Changer Locking Mechanism
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Solution Overview
Problem
There is a need for improved robotic tool changers that can accurately and efficiently attach various tools to robotic devices, particularly in-home mobile manipulation robots with reduced accuracy, without human intervention.
Innovation Solution
A robotic tool changer system featuring a tool adapter with a locking member that rotates between open and closed positions to securely attach and detach tool elements, ensuring precise engagement and disengagement, and a tool element with corresponding geometry to match the adapter's geometry for reduced risk of engagement failure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a locking mechanism is added to prevent tool removal, then tool security is improved, but device complexity increases
Solution Approach 1:
The locking mechanism is segmented into modular components including a locking member with first and second ends, a motor assembly, and a gear system. Each component performs a specific function and can be independently manufactured and assembled, reducing overall system complexity while maintaining reliable tool security.
Solution Approach 2:
A gear assembly acts as an intermediary between the motor and the locking member. The gear train (including a pinion gear and idler gear) transmits and modifies the motor's rotational motion to achieve the desired locking and unlocking actions, allowing the motor to operate at optimal speeds while providing precise control over the locking mechanism.
2Ease of operation
If automated locking mechanism is implemented, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The system implements self-service through automated detection and locking. The processor detects when a tool is properly inserted into the tool adapter, automatically activates the motor to engage the locking member, and secures the tool without requiring manual intervention. This automation simplifies operation while the modular design keeps complexity manageable.
Solution Approach 2:
The system uses feedback from the processor to monitor tool insertion status and control the locking mechanism accordingly. When the processor detects that a tool element is properly positioned in the tool adapter, it automatically triggers the motor assembly to lock the tool in place, creating a closed-loop control system that enhances ease of operation.
Data Source
AI summary
A robotic tool changer is provided including a tool adapter. The tool adapter includes a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall. A rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body. The tool adapter also includes a locking member movable relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening.