Tool Exchanging Arm Linkage for Low-Impact Tool Gripping

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Solution Overview

Problem

The existing tool exchanging arm design results in increased impact noise and potential damage due to collisions between tools and movable claws during rotation, as the collision occurs before the rotational speed drops, making it difficult to reduce the impact effectively while maintaining exchange speed.

Innovation Solution

A tool exchanging arm with a symmetrical gripping mechanism, featuring a fixed claw and a movable claw supported by a connecting mechanism that pivots via a second connecting member, allowing the tool to contact an intermediate portion of the second connecting member before stopping, reducing the impact by distributing the force effectively.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If the rotational speed of the tool exchanging arm is reduced to reduce impact, then impact noise is reduced, but the time required for tool exchange increases

Engineering Contradiction:

Improveimpact noiseVSAvoidtool exchange time

Core Design Contradiction:

Object-affected harmful factorsVSProductivity

Solution Approach 1:

The patent converts the harmful collision impact into a beneficial gripping force. The tool is designed to collide with the movable claw during rotation, and this collision force is utilized to close the movable claw and grip the tool, rather than being treated as a harmful effect to be eliminated. This resolves the contradiction by making the impact necessary for the gripping function while controlling its timing and magnitude.

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Solution Approach 2:

The patent changes the timing parameter of the collision by adjusting the rotational speed profile and the position where the tool contacts the movable claw. By optimizing these parameters, the collision occurs at the optimal moment to initiate gripping while minimizing impact noise and maintaining efficient tool exchange speed.

Inventive Principle:

Principle #35Parameter changes

2Productivity

If the rotational speed is maintained to shorten tool exchange time, then productivity is improved, but impact and damage to the arm increase

Engineering Contradiction:

Improvetool exchange timeVSAvoidarm durability

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The harmful collision impact is converted into a useful gripping action. The tool's collision with the movable claw during high-speed rotation is designed to close the claw and secure the tool, transforming what would be damaging impact into a functional gripping force that enables reliable operation at higher speeds.

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Solution Approach 2:

The movable claw is pre-positioned and spring-loaded to receive the tool collision. The spring mechanism is pre-compressed and ready to activate upon collision, ensuring the gripping action occurs immediately and reliably when the tool makes contact, even at high rotational speeds.

Inventive Principle:

Principle #10Preliminary action

3Ease of operation

If the tool collision position is distant from the stopping position, then gripping action is initiated early, but impact noise increases due to higher rotational speed

Engineering Contradiction:

Improvegripping action timingVSAvoidimpact noise

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The patent optimizes the rotational speed parameter as a function of position. The speed is controlled to allow early initiation of gripping action while minimizing the speed (and thus impact noise) at the actual collision point. This parameter optimization resolves the contradiction between early gripping initiation and impact noise reduction.

Inventive Principle:

Principle #35Parameter changes

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

This configuration reduces the impact noise and minimizes damage to the tool exchanging arm by ensuring the tool is gripped with reduced force at the point of collision, maintaining exchange speed without increasing costs or modifying the cam device design.

Implementation Method 1

An urging force of the compressed coil spring transmitted via the pressing member acts in a direction in which the movable claw opens in relation to the fixed claw

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

during tool exchange, the tool exchanging arm rotates, a tool comes into contact with a gripping section in which the movable claw is opened

Methodology Applied

Scientific EffectRotational motion:

Implementation Method 3

the movable claw pivots via the first connecting member pivotally attached to the second connecting member to grip the tool together with the fixed claw

Methodology Applied

Scientific EffectPivoting motion:

Data Source

PatentUS20240001498A1Tool exchanging arm

Publication Date: 2024.01.04 FUJI CORP

AI summary

A tool exchanging arm includes an arm main body, a fixed claw formed at both end portions of the arm main body, a movable claw pivotably supported on the arm main body, a first connecting member having a first end pivotally attached to a distal end portion of the movable claw, and a second connecting member having a first end pivotally attached to a second end of the first connecting member and a second end pivotally supported on the arm main body, in which an intermediate portion of the second connecting member comes into contact with an entering side portion of the tool and is pressed by rotation of the arm main body, and the movable claw pivots via the first connecting member pivotally attached to the second connecting member to grip the tool together with the fixed claw.