Block Clamping Assembly for Mechanical Brick Self-Datuming
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Solution Overview
Problem
Existing robotic bricklaying systems face challenges in accurately determining the location of bricks with respect to clamps due to spatial constraints and varying outdoor conditions, necessitating vision-based processing that is cumbersome and inefficient.
Innovation Solution
A block transfer apparatus with a clamping assembly that includes pivotally mounted gripper jaws, allowing blocks to self-datum onto orthogonal planes and re-clamp for precise positioning, eliminating the need for vision-based systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a camera-based vision system is used to determine the exact 6 DOF location of the brick, then the location precision can be improved, but the device complexity and processing time increase significantly
Solution Approach 1:
The patent replaces the optical vision system with a mechanical positioning system. The clamp assembly incorporates precise mechanical features including a clamp axis, datum surfaces, and controlled movement mechanisms that physically establish the brick's position and orientation. This mechanical substitution eliminates the need for complex camera systems while achieving equivalent or superior positioning accuracy through purely mechanical means.
Solution Approach 2:
The clamp assembly is designed to automatically datum and position the brick through its own mechanical features during the clamping process. The datum surfaces and controlled movements enable the system to self-establish the brick's 6 DOF location without requiring external vision systems or additional sensing equipment, making the system self-sufficient for positioning tasks.
2Measurement precision
If a camera-based vision system is used to determine the exact 6 DOF location of the brick, then the location precision can be improved, but the processing time increases beyond the required 2 seconds
Solution Approach 1:
The patent replaces the computational vision processing with real-time mechanical positioning. The mechanical features (clamp axis, datum surfaces, controlled movements) instantaneously establish the brick's position during the physical clamping action, eliminating the 2+ second processing delay inherent in camera-based systems. The positioning occurs naturally during the transfer operation itself rather than as a separate measurement step.
3Device complexity
If the brick location with respect to the clamp is not accurately known, then the system can operate without complex positioning mechanisms, but the robot arm cannot place the brick at the desired location with sub-mm accuracy
Solution Approach 1:
The patent implements a mechanical positioning system within the clamp assembly that establishes the brick's position and orientation through physical datum surfaces and controlled movements. This mechanical approach provides the sub-mm placement accuracy required by the robot arm while maintaining relatively simple device architecture, avoiding the need for complex vision systems or multiple sensors.
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 reliable and efficient transfer of blocks with known positions, enhancing the accuracy of robotic bricklaying by mechanically datumming the blocks, thus improving system reliability and efficiency.
Implementation Method 1
rotate to a drop position whereby the gripper jaws release the block and allow it to self-datum onto first and second orthogonal datum surfaces
Data Source
AI summary
A block transfer apparatus for transferring a block between an upstream and downstream clamps of a block delivery system. The apparatus includes: a frame pivotally mounted to a support; a clamping assembly mounted to the frame and linearly extendable relative thereto, and including a pair of gripper jaws for clamping opposing sides of the block. The apparatus receives a block in the gripper jaws in an approximate position; rotates to a drop position and releases the block allowing it to self-datum onto first and second orthogonal datum surfaces. The apparatus re-clamps the block after the drop by applying a clamping force to opposing sides of the block to register the block against a third datum surface to thereby datum the position of the block with respect to the clamping assembly; and presents the block clamped in the datumed position for transfer to the downstream clamp.