Reconfigurable robot tool designs and integration applications

Robot tools, or in more general terms, end-of-arm tools, or robot end-effectors are general purpose, programmable or task-oriented devices connected between the robot wrist and the object or load to be manipulated and/or processed by the robot. They can offer and/or limit the versatility of grasping and/or processing of different components, sensing their characteristics and working together with the robot control system to provide a reliable "service" throughout the component manipulation cycle. Reconfigurable robot tooling enables the robot to rapidly change its end-effectors or fingers of its end-effectors, typically under programmable software control. The importance of providing lean-flexibility by means of reconfigurable, automated robot hand changers (ARHC), particularly in small-batch robotic welding, assembly, machine loading and in other flexible robot cells, is discussed with examples. Some known systems are demonstrated and the "Ranky-type" ARHC design is illustrated in more detail.