End Effector Compression Wedge for Bar-Swing Mitigation
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Solution Overview
Problem
Existing end effectors for robotic arms in the packaging industry face challenges with 'bar-swing' during the placement of items, where items sway due to high-speed movements, leading to misalignment and potential damage to the items or packaging.
Innovation Solution
The integration of compression wedges into the end effector's carrier assemblies, which are actuated by a rack and pinion assembly and drive rods, allows for the groups of carrier assemblies to be compressed together, minimizing movement and ensuring precise alignment during placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If high-speed movement is used during pick-and-place operation, then productivity is improved, but bar-swing occurs causing misalignment and potential damage
Solution Approach 1:
The compression wedge applies a preliminary compressive force to the carrier assemblies before the high-speed pick-and-place operation begins. This pre-compression counteracts the inertial forces that cause bar-swing during rapid movement, allowing high-speed operation without misalignment or damage to items or packaging
2Productivity
If carrier assemblies are moved rapidly during place operation, then productivity is improved, but items may contact carton walls causing damage
Solution Approach 1:
The compression wedge pre-compresses the carrier assemblies to eliminate bar-swing before placement occurs. By counteracting the inertial forces that would cause items to sway and contact carton walls during rapid placement, this preliminary action prevents damage while enabling high-speed operation
3Manufacturing precision
If compression wedges are added to carrier assemblies, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The compression system is segmented into modular components: individual compression wedges for each carrier assembly, wedge blocks that can be independently attached, and drive rods that can be selectively engaged. This segmentation allows the precision-compression function to be added only where needed without unnecessarily complicating the entire end effector system
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 compression of carrier assemblies reduces the risk of bar-swing, ensuring accurate placement of items into packaging without damage to the items or the packaging, enhancing the efficiency and reliability of the pick-and-place process.
Implementation Method 1
The compression wedge is positioned before the group of carrier assemblies and configured to compress the group of carrier assemblies together
Implementation Method 2
The compression wedge is integrated into the end effector's carrier assemblies, which are actuated by a rack and pinion assembly and drive rods
Data Source
AI summary
An end effector for use in the packaging industry has compression wedges that bookend subgroups of carrier assemblies on the end effector. The compression wedges are attached to the frame of the end effector via wedge blocks, which may be fixed to the frame or slidingly engaged with the frame.