Dual-Module Manipulator Structure for Elevated Swivel Axis

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Solution Overview

Problem

Existing manipulator devices, such as gyrowheel (Rhönwheel) turning devices, are limited by the diameter of their circular guidances, leading to instability and safety issues due to a low rotation axis, which restricts accessibility and increases the risk of objects rolling over or colliding with the floor.

Innovation Solution

A manipulator device composed of two modules with three rotation axes each, intersecting at a single point and connected by a rotatable yoke, allowing for a variable and elevated rotation axis, thus ensuring the center of gravity is below the axis and providing enhanced accessibility and stability, without the need for costly circular guidances.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Length of moving object

If circular guidances are used to support the rotation axis, then the device can turn objects, but the maximum height of the rotation axis is restricted and accessibility to the lower side is limited

Engineering Contradiction:

Improveheight of rotation axisVSAvoidaccessibility to lower side

Core Design Contradiction:

Length of moving objectVSEase of operation

Solution Approach 1:

The device is divided into two separate manipulator modules, each with its own base part and rotation axis. This segmentation allows the rotation axis to be positioned at a higher level while maintaining structural support, thereby improving both the height of the rotation axis and accessibility to the lower side of the object.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The invention transitions from a single-plane circular guidance system to a three-dimensional manipulator structure with base parts positioned at different locations. This dimensional change allows the rotation axis to be elevated while maintaining support through spatial distribution of the base parts, resolving the contradiction between height and accessibility.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Stability of the object's composition

If the rotation axis is positioned low to use circular guidances, then the structure is compact, but the object becomes unstable and may roll over

Engineering Contradiction:

Improvestability of objectVSAvoidstructure complexity

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The invention positions the rotation axis at a higher level and uses the asymmetric arrangement of base parts to create a stable support structure. The center of gravity of the object is kept below the rotation axis, and the distributed base parts provide counterbalancing support, preventing the object from rolling over while maintaining structural stability.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Solution Approach 2:

The base parts are arranged asymmetrically with respect to the vertical plane through the rotation axis. This asymmetric arrangement provides stable support for the elevated rotation axis while allowing freedom of movement, resolving the contradiction between stability and structural simplicity.

Inventive Principle:

Principle #4Asymmetry

3Reliability

If circular guidances are used, then the device can support objects, but costly circular and circular arc guidances are required

Engineering Contradiction:

Improvesupport capabilityVSAvoidmanufacturing cost

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The continuous circular guidance system is replaced by discrete manipulator modules with individual rotation axes. This segmentation eliminates the need for costly circular and circular arc guidances while maintaining the ability to support and rotate objects through multiple rotational degrees of freedom.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The invention replaces the mechanical circular guidance system with a manipulator system using rotational joints and actuators. This substitution eliminates the need for expensive circular guidances while providing reliable support and rotation capabilities through standard manipulator components.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Adaptability or versatility

If the rotation axis is positioned low, then the device is compact, but the angle of rotation is restricted and accessibility is impaired

Engineering Contradiction:

Improverange of rotationVSAvoiddevice volume

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

The invention uses a three-dimensional manipulator structure with base parts positioned at different locations and heights. This spatial arrangement allows the rotation axis to be elevated and provides a wide range of rotation angles without increasing the device's horizontal footprint, resolving the contradiction between rotation range and device volume.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS9352468B2Manipulator

Publication Date: 2016.05.31 EB INVENT

AI summary

A device for turning an object about an axis which is stationary related to the device, the device including two manipulator modules, each provided with a base part, to which, rotatable on a base axis, an upper arm is linked, to which, rotatable on an arm axis, a lower arm is linked, which features an end axis. The base axis, the arm axis and the end axis of each manipulator module intersect with each other respectively in one intersection point, with their connecting line defining the swivel axis. A connecting piece is mounted between the two lower arms so that it is rotatable on the two end axes and forms and/or provides an object holder for the object to be turned/swiveled.