Bellows End Effector Coupling for Robot Collision Cushioning
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Solution Overview
Problem
Existing robot safety measures fail to prevent damage to the end effector and robot arm mechanism when they collide with obstacles, and require extensive time to return to a safe state after such collisions.
Innovation Solution
An end effector attachment apparatus with a bellows mechanism that mitigates impact by extending or contracting based on controlled air pressure, allowing for quick return to the pre-collision state and minimizing damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot continues to move after collision detection until completely stopped, then the robot can be stopped safely, but the end effector and robot may be damaged, or the person or object may be damaged
Solution Approach 1:
The patent applies beforehand cushioning by providing a bellows structure between the end effector and robot arm that can be pre-inflated with air or gas. When collision is detected, the bellows is already in a state ready to absorb impact energy, cushioning the blow before significant damage can occur. This resolves the contradiction by maintaining safety while preventing damage through pre-positioned protective infrastructure.
Solution Approach 2:
The bellows structure serves as an intermediary element between the end effector and the robot arm mechanism. This mediator absorbs and distributes collision forces, protecting both the end effector and the robot arm from direct impact damage while still allowing the robot to stop safely. The intermediary bellows structure transfers and mitigates the harmful forces generated during collision.
2Reliability
If the robot stops with the end effector pushed into the collided object, then the robot stops safely, but it takes much time to evacuate and return the robot
Solution Approach 1:
The pre-inflated bellows structure cushions the collision impact, preventing the end effector from being pushed deeply into the collided object. This reduces the evacuation distance and time required to retrieve the end effector after collision, resolving the time loss issue while maintaining safety through impact absorption.
Solution Approach 2:
The bellows structure converts the harmful collision force into beneficial air pressure distribution. The impact energy is transformed into compression of the air-filled bellows, which then gradually releases this energy, preventing permanent deformation and reducing the time needed to recover the end effector from the collision state.
3Stability of the object's composition
If a rigid attachment structure is used between end effector and robot arm, then the end effector is securely mounted, but impact damage occurs during collision
Solution Approach 1:
The patent changes the physical parameter of the attachment structure from rigid to flexible by filling the bellows with air or gas. This parameter change allows the structure to maintain mounting stability through elastic forces while simultaneously providing impact resistance through compressibility. The air-filled bellows can deform under impact while still holding the end effector securely mounted.
Solution Approach 2:
The attachment structure uses a composite approach combining the rigid mounting interface with the flexible air-filled bellows. This composite structure integrates both stability (through the rigid connection points) and impact resistance (through the flexible bellows), resolving the contradiction between secure mounting and impact protection.
4Strength
If a flexible attachment structure is used between end effector and robot arm, then impact damage is reduced, but the end effector may detach during operation
Solution Approach 1:
The air pressure within the bellows is controlled to maintain optimal attachment force. By adjusting the air pressure parameter, the system achieves sufficient flexibility for impact absorption while maintaining enough attachment force to prevent detaching during normal operation. This parameter control resolves the contradiction between flexibility and reliability.
Solution Approach 2:
The system monitors operational conditions and adjusts the bellows air pressure accordingly. During high-vibration or high-force operations, the air pressure is increased to strengthen the attachment, preventing detachment. During collision events, the pressure can be reduced to maximize flexibility and impact absorption. This feedback control resolves the contradiction between attachment reliability and impact resistance.
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
The apparatus effectively cushions impacts and quickly returns to the pre-collision state, reducing damage to the end effector and robot arm mechanism, and simplifies the recovery process.
Implementation Method 1
an attraction mechanism for attracting the mount plate to the base plate, and a bellows coupling the mount plate to the base plate
Implementation Method 2
The apparatus effectively cushions impacts and quickly returns to the pre-collision state
Data Source
AI summary
An end effector attachment apparatus is an apparatus to be attached to an end effector of a robot. The end effector attachment apparatus includes a base plate, a mount plate on which the end effector is mounted, an attraction mechanism for attracting the mount plate to the base plate, and a bellows coupling the mount plate to the base plate. The front and rear edges of the bellows are sealed to the base plate and the mount plate to secure a sealed space inside the bellows.