Automatic Tool Changer Torque Sensing for Shifted Tool Positioning

The patent replaces complex mechanical position detection mechanisms (such as encoders or mechanical sensors on each tool) with a torque detection system. By monitoring torque changes during tool movement, the system infers tool positions and shifts without requiring direct mechanical measurement of each tool's position, thus maintaining high tool change speed while improving position accuracy.

The system uses the tools themselves as the detection medium. When tools are moved or shifted, their physical state changes (position, contact force) directly generate detectable torque signals. The system leverages the tools' own physical responses to position changes rather than requiring external active sensors, enabling accurate position recognition without adding complex detection hardware that would slow down tool changes.

The torque detection unit serves multiple functions simultaneously: it detects tool positions, identifies tool shifts, monitors tool contact forces, and provides feedback for control adjustments. By making the torque detection system multi-functional, the patent avoids adding separate dedicated sensors for each detection task, thereby improving measurement precision without proportionally increasing device complexity.

The torque detection functionality is integrated into the existing tool change mechanism's drive system. Rather than adding completely separate detection hardware, the system combines position detection with the torque sensing already present in the servo motor control, merging measurement and actuation functions into a unified system that reduces overall complexity.