Detachable Manipulator Handle Coupling for Sealed Replacement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing manipulator systems face challenges in efficiently replacing command handles, as the process is slow and laborious due to the need to disconnect and re-route the linear translation mechanism, which disrupts the isolation between environments.
Innovation Solution
A cable coupling assembly with releasable coupler blocks and an attachment structure, such as an interference fit or pin receptacle, allows for quick detachment and reattachment of the command handle without breaking the environmental seal, using a connector with a clamp lever for secure engagement and disengagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If the command handle is removed and replaced by disconnecting and re-routing the linear translation mechanism, then the handle can be replaced or maintained, but the process becomes slow and laborious
Solution Approach 1:
The linear translation mechanism is divided into separate cable segments that can be independently detached and re-routed. Each cable can be disconnected from its current handle and connected to a replacement handle without affecting other cables or components, enabling rapid handle replacement.
Solution Approach 2:
A cable management system with guides and routing structures serves as an intermediary mechanism that facilitates quick cable re-routing. The guides channel cables between handles and the manipulator body, allowing operators to quickly reconnect cables to a replacement handle without complex manual routing.
2Ease of repair
If the command handle is frequently removed for maintenance or replacement, then the system can be maintained, but the environmental isolation between clean and dirty environments may be compromised
Solution Approach 1:
The cable coupling system is extracted as a separate, self-contained mechanism that can be quickly connected and disconnected. This allows the handle to be removed and replaced without requiring the entire manipulator system to be opened or reconfigured, minimizing disruption to the environmental seal.
Solution Approach 2:
The cable routing guides and coupling mechanisms are pre-configured in fixed positions along the manipulator arm. This preliminary arrangement allows cables to be quickly routed and connected to a replacement handle without requiring operators to plan or create new routing paths, reducing the time the environmental seal is compromised.
3Reliability
If the linear translation mechanism is permanently routed to the command handle, then the mechanical communication chain remains intact, but the handle cannot be easily replaced
Solution Approach 1:
The cable routing system transitions from a fixed, permanent configuration to a dynamic, reconfigurable system. Cables can be dynamically disconnected from one handle and connected to another, allowing the mechanical communication chain to be quickly re-established with a replacement handle while maintaining functional integrity.
Solution Approach 2:
The cable coupling mechanism and routing guides are designed with universal compatibility to work with multiple different handle types. The same coupling system can accommodate various handle configurations, enabling a single manipulator body to interface with different handles as needed without requiring custom routing for each handle type.
Data Source
AI summary
A manipulator command handle (147, 230, 330) comprising a handle framework (232, 332), a first cable (250, 350) having a first end (252, 352) and a second end, wherein the second end of the first cable is coupled to the handle framework, a first coupler block (241, 341) coupled to the first end of the first cable and a connector configured to reversibly couple to an output shaft (224, 322) of a manipulator wrist joint.