Tool Changer Zero Return Controller for Inertia Recovery
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Solution Overview
Problem
The servo motor driving type tool changer struggles to automatically return the tool change arm to its zero points after an urgent stop, as it may be stopped at a position deviating from the regular operation path due to inertia, making it difficult to recover efficiently.
Innovation Solution
A tool changer with a zero return controller that determines whether the tool holding parts are holding tools, and if not, rotates the tool change arm to a non-interference angle and moves it backward to the forward/backward movement zero point before rotating to the rotation zero point, or if holding tools, moves to a position corresponding to the forward end of the path and rotates to position the tool holding parts on the path, allowing for automatic return to the zero points without interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the tool change arm is stopped during operation due to urgent stop, then the operation is halted, but the tool change arm cannot be automatically returned to zero points because it may be stopped at a position deviating from the regular operation path due to inertia
Solution Approach 1:
The system automatically detects the tool change arm's position after urgent stop and executes self-correction by rotating to the non-interference angle and returning to zero points without operator intervention, making the system serve itself to recover from abnormal states
Solution Approach 2:
The controller monitors the tool change arm's position and operational state, providing feedback to determine whether to execute the zero-point return operation, enabling automatic recovery based on real-time system state assessment
2Reliability
If the tool change arm is rotated to return to zero points after urgent stop, then it can recover position, but it may interfere with other structures if not positioned correctly
Solution Approach 1:
The system first rotates the tool change arm to the non-interference angle before executing the return to zero points operation, ensuring that the arm is positioned in a safe state that avoids interference with other structures during the recovery process
Solution Approach 2:
The non-interference angle serves as an intermediary position that the tool change arm must reach before returning to its operational zero points, acting as a mediator that prevents direct interference with other structures during the recovery process
Data Source
AI summary
A tool changer includes a holding member having a tool change arm, a rotating mechanism for rotating the holding member, a forward/backward moving mechanism for moving the holding member forward and backward, and a controller controlling the mechanisms. A zero return controller determines whether the tool change arm is holding tools. When it is not holding tools, the tool change arm is rotated to a predetermined non-interference angle, the tool change arm is translated to a forward/backward movement zero point, and the tool change arm is rotated to a rotation zero point. When it is holding tools, the tool change arm is translated to a forward end, the tool change arm is rotated to position it on an expected path, and the tool change arm is moved along the expected path, thereby moving the tool change arm to the rotation zero point and the forward/backward movement zero point.