Robotic Tool Coupling with Sensor-Enhanced Positioning
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Solution Overview
Problem
Existing coupling devices for tool holders on handling devices, such as robots, face challenges in accurately and automatically positioning tools with tapered shanks due to three-dimensional motion sequences, contamination, and thermal stress, especially in metallurgical applications, which limits the ability to handle a variety of tools efficiently.
Innovation Solution
A coupling device with a protective hood surrounding the taper shank, equipped with multiple sensors on the inner and outer surfaces of the cone sleeve for precise position determination, and a clamping mechanism that includes a gripping and clamping device, allowing for automated, position-controlled alignment and locking of the tool holder with the handling device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a tool holder with tapered shank is used for automated coupling, then automation capability is improved, but positioning precision deteriorates due to three-dimensional motion sequences
Solution Approach 1:
The patent applies preliminary action by performing alignment corrections during the approach phase before final coupling. The handling device continuously determines the actual position and performs alignment corrections in advance, ensuring precise positioning is achieved before the tool holder engages with the tool fixture, thus resolving the positioning precision issue while maintaining automation.
2Ease of operation
If the taper shank is exposed for coupling operations, then coupling accessibility is improved, but the shank becomes vulnerable to contamination and thermal stress
Solution Approach 1:
The patent introduces a protective hood as an intermediary element that surrounds the tapered shank. This hood acts as a barrier between the shank and the harmful environment (contamination and thermal stress from liquid metal), while still allowing the coupling operation to proceed. The hood is designed to be transparent or translucent, enabling visual monitoring of the coupling process without exposing the shank to harmful factors.
3Measurement precision
If multiple sensors are added for position determination, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The patent applies universality by designing a multi-functional sensor system where the same sensors serve multiple purposes: determining radial position, axial position, and angular orientation of the tool holder. This integrated approach achieves high positioning accuracy without proportionally increasing system complexity, as a single sensor arrangement provides comprehensive positional information needed for precise coupling.
Data Source
Figure 1
Figure 2~4
Figure 3a~3b
AI summary
The invention relates to a coupling mechanism for automatically coupling a tool holder (1) that supports a tool and comprises a conical shaft (11) and a clamping head (8) to a tool fixture (29) on a manipulation device (7). The tool fixture (29) comprises a conical sleeve (16) and a locking mechanism (2a) which encompasses a gripping device (2b) cooperating with the clamping head (8) and a clamping device (2c) acting in an axial direction. In order to allow very different tools and utensils to be automatically accommodated in a position-controlled manner, a number of sensors (31a, 31b, 31c, 32a, 32b, 32c) is arranged on the conical sleeve (16) of the tool fixture (2), and a reference surface (35) faces each sensor on the tool holder (2) in order to determine the position of the tool holder (1).