Robotic Tool Changer Turret for Automated Milling
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Solution Overview
Problem
Existing tool changing devices for robots are inefficient, requiring manual intervention or complex mechanical systems, leading to increased cycle times and costs in robotic milling operations.
Innovation Solution
A tool changing device with a motor-driven turret and controller that enables rapid rotation and selection of tools, allowing for automatic and efficient tool changing without the need for manual intervention or complex mechanical systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual tool changers are used, then human operators can perform tool changes, but the process becomes labor-intensive and time-consuming
Solution Approach 1:
The robot performs tool changes autonomously using its own end effector as a tool holder, eliminating the need for external manual intervention. The robot picks up tools from the turret, processes workpieces, and returns tools to the turret automatically, making the system self-sufficient in tool management operations.
2Extent of automation
If mechanical tool changers are used, then automated tool switching is achieved, but the system becomes bulky and expensive
Solution Approach 1:
The robot's end effector serves multiple functions: it acts as both the manipulator for workpiece handling and the tool holder for cutting tools. This multi-functionality eliminates the need for separate dedicated tool changing mechanisms, reducing system complexity and cost while maintaining automated tool changing capability.
Solution Approach 2:
The patent extracts the tool holding function from a separate mechanical tool changer and integrates it directly into the robot's end effector. By removing the need for complex external tool changing mechanisms and incorporating tool holding directly into the robot, the system achieves automation without the associated bulk and complexity.
3Productivity
If magnetic tool changers are used, then quick tool changing is achieved, but limitations exist in tool weight and size accommodation
Solution Approach 1:
The robot autonomously performs tool changes by picking up tools from the turret using its end effector and returning them after use. This self-service approach eliminates the need for magnetic holding systems, enabling the robot to handle tools of various weights and sizes without being constrained by magnetic force limitations.
4Reliability
If traditional spindle tool mounting is used, then tools can be securely held, but tool change cycle time increases significantly
Solution Approach 1:
The patent extracts the tool changing operation from a separate stationary tool holder stand and integrates it into the robot's own end effector. By performing tool changes at the workpiece location rather than moving to a separate tool holder, the system eliminates unnecessary robot movements and significantly reduces tool change cycle time while maintaining secure tool holding through the robot's gripping capability.
Solution Approach 2:
The turret is positioned near the workpiece in advance, and the robot can quickly swap tools by picking them up from the pre-positioned turret. This preliminary positioning of the turret eliminates the need for long robot movements to external tool holders, reducing tool change cycle time while maintaining reliable tool holding through the robot's end effector grip.
Data Source
AI summary
A tool changer device for a robot includes a motor and a turret rotatably coupled to the motor. The turret may be capable of rotating about a turret axis and may be equipped with a tool. The device also includes a controller that may be in communication with the motor, the tool, and the robot. The controller may be configured to operate the motor to selectively move one of the tools arranged on the turret to an active position by rotating the turret. The controller may also selectively hold the active tool at the active position for independent interaction with a workpiece. The controller may selectively move the active tool to an inactive position and another tool on the turret to the active position by rotating the turret. The controller may be further capable of selectively holding the other tool in the active position for independent interaction with the workpiece.