AMR Cart Coupling Arms for Precise Pin Alignment
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Solution Overview
Problem
Conventional autonomous mobile robots (AMRs) face challenges in efficiently coupling with carts due to alignment precision issues, floor unevenness, and limited directional flexibility, leading to potential cart overturning and increased manufacturing and operational costs.
Innovation Solution
A coupling device with pivoted arms actuated by electrically-controlled linear actuators, featuring conical cutouts that automatically align with pins on the cart, allowing rapid and precise mating and separation, while providing vertical freedom and structural simplicity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a friction-based coupling mechanism is used to allow easy detachment of the second robotic device, then ease of operation is improved, but reliability deteriorates because the coupling may unintentionally disengage during use
Solution Approach 1:
The patent replaces the friction-based mechanical coupling mechanism with a magnetic coupling mechanism. The magnetic coupling device includes a first coupling portion on the base robotic device and a second coupling portion on the mobile robotic device, where magnetic attraction forces provide both the coupling force to hold the devices together and the controlled release mechanism. This substitution eliminates the unintentional disengagement problem while maintaining ease of detachment through controlled magnetic field manipulation.
2Device complexity
If the coupling mechanism is designed to be simple for easy detachment, then device complexity is reduced, but reliability worsens due to lack of secure engagement
Solution Approach 1:
The magnetic coupling portions serve multiple functions simultaneously: they provide secure engagement through magnetic attraction, enable controlled detachment through external magnetic field manipulation, and prevent unintentional disengagement through sufficient magnetic holding force. This multi-functionality allows a relatively simple structure to achieve both ease of operation and high reliability.
3Adaptability or versatility
If the mobile robotic device can be easily detached and reattached, then adaptability is improved for different tasks, but reliability deteriorates due to repeated coupling and decoupling operations
Solution Approach 1:
The magnetic coupling mechanism replaces mechanical interlocking systems that wear through repeated engagement and disengagement. Magnetic fields do not degrade with use, allowing the coupling to withstand numerous attachment and detachment cycles without loss of coupling strength, thereby maintaining reliability while enabling task flexibility.
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
Enables rapid, precise, and cost-effective coupling and decoupling of AMRs with carts, facilitating navigation through nonlinear paths and reducing manufacturing and operational costs.
Implementation Method 1
the coupling device includes a first coupling portion (122, 124) on the base robotic device (101) and a second coupling portion (126, 128) on the mobile robotic device (102). The coupling device uses magnetic attraction forces to couple the base robotic device and the mobile robotic device
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A coupling device (1) for autonomous mobile robots (2) which has two arms (16a, 16b), which are pivoted at a first end (14a, 14b) to the robot (2), and which can splay on a horizontal plane using electrically-actuated linear actuators (18a, 18b). The two arms (16a, 16b) are provided at a second end (17a, 17b) with conical cutouts (22a, 22b) which are adapted to intercept respective pins (23a, 23b) which can be removably inserted in adapted seats (24a, 24b) provided on the bottom (25) of an, overlying, cart (26) which can move on idle wheels (27).