Robotic Tool Changer Coupling for Stable Tool Transfer
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Solution Overview
Problem
Existing robotic tool changer systems face issues with limited freedom of movement, accidental tool dropping due to lack of stability, and inadequate locking mechanisms, leading to inefficiencies and potential tool loss during tool changes.
Innovation Solution
A robotic tool changer system featuring a first coupling unit on a robot arm end shaft with a protruding portion and second coupling units that include a movable ejector pin and guide lock, utilizing a third force-applying member to securely hold and transfer tools between the robot arm and tool changer grippers, with a structural connection that prevents accidental separation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tool locking arm rotates on a plane with an elastic force-applying member for tool change, then the tool change can be performed horizontally, but the freedom of movement of the tool locking arm is relatively low
Solution Approach 1:
The tool locking arm is transformed from a static rotating structure to a dynamic multi-directional moving structure. The arm can now move not only horizontally but also vertically and diagonally, adapting to different tool change scenarios while maintaining operational simplicity through guided movement paths.
Solution Approach 2:
The tool locking arm is divided into multiple segments with independent movement capabilities. Each segment can move in specific directions (horizontal, vertical, diagonal) to achieve comprehensive freedom of movement while keeping each segment's structure relatively simple and manageable.
2Area of stationary object
If the robot arm moves the coupling unit horizontally to the tool change gripper and then takes it out horizontally, then the tool change can be performed, but a larger space is required for the tool change
Solution Approach 1:
The tool change operation transitions from a two-dimensional horizontal movement to a three-dimensional multi-directional movement. The coupling unit can now move horizontally, vertically, and diagonally, allowing the tool change to occur within a compact spatial envelope and reducing the overall space required for the operation.
Solution Approach 2:
The coupling unit is designed with a nested structure that allows it to be compactly stored within the robot arm when not in use. During tool change, it extends and moves through multiple directions to perform the operation, then retracts to its compact form, minimizing the space occupied throughout the cycle.
3Reliability
If the second tool changer part enters or leaves the device holder without additional force, then the structure can be simple, but the part may accidentally drop due to vibration or unstable grip
Solution Approach 1:
A locking mechanism is activated in advance before the tool change operation begins. This locking mechanism pre-secures the coupling unit and tool changer part, preventing accidental drops due to vibration or unstable grip during the subsequent tool change movements.
Solution Approach 2:
A locking arm acts as an intermediary component between the robot arm and the tool changer part. This locking arm engages with the coupling unit and provides additional securing force, mediating the connection to prevent accidental separation while allowing controlled tool change operations.
4Reliability
If a cylinder and cam are used to drive the locking mechanism, then the second unit can be prevented from dropping, but the first unit becomes large in size
Solution Approach 1:
The locking mechanism is extracted from the main robot arm body and placed on a separate tool changer part. This separation allows the robot arm to maintain a compact size while the locking mechanism, which prevents accidental dropping, remains functional on the tool changer part itself.
Solution Approach 2:
The locking mechanism is designed to be self-actuating through the movement of the tool changer part itself. As the tool changer part moves into position, the locking mechanism automatically engages without requiring additional actuators or complex driving mechanisms, thereby preventing accidental dropping while maintaining a compact structure.
Data Source
AI summary
A robotic tool changer system and a method for performing a tool change with the robotic tool changer system are disclosed. Providing a plurality of second coupling units each connected with a tool, wherein the second coupling units are detachably connected to a respective tool changer grippers; driving a first coupling unit along a second direction with a robot arm end shaft to be coupled with a selected second coupling unit; driving the first coupling unit coupled with the selected second coupling unit away from the corresponding tool changer gripper in a first direction, defining an angle between the first direction and the second direction; wherein when the selected second coupling unit is moved to the corresponding tool changer gripper and before the first coupling unit to separate from the selected second coupling unit, a third acting force is applied to the selected second coupling unit for restricting movement.