End effector
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Solution Overview
Problem
Existing end effector designs for robotic arms in the packaging industry face challenges in efficiently picking up items from a first conveyor belt and placing them into packaging at a different pitch, with limited accessibility for maintenance and complex actuation mechanisms that complicate installation and repair.
Innovation Solution
The end effector incorporates a rack and pinion assembly with a robot interface, actuation rods connected to carrier assemblies, and cooperating members that allow indirect connection of carrier assemblies, enabling synchronized movement and easy access for maintenance, along with vacuum ports for pick-up and placement operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If carrier assemblies are directly connected to actuation rods for synchronized movement, then movement precision is improved, but device complexity and difficulty of maintenance increase
Solution Approach 1:
The end effector divides carrier assemblies into two groups: directly-connected carrier assemblies that are rigidly attached to actuation rods for precise movement, and indirectly-connected carrier assemblies that are loosely attached to allow easier maintenance. This segmentation allows different parts of the system to have different connection characteristics optimized for their specific functions.
Solution Approach 2:
Different connection types are applied to different carrier assemblies based on their specific requirements. Directly-connected carriers receive rigid connections for precision, while indirectly-connected carriers receive loose connections for maintainability. This local differentiation optimizes the overall system by applying the appropriate connection quality to each component.
2Adaptability or versatility
If complex actuation mechanisms are used for pitch adjustment, then adaptability is improved, but ease of repair and installation worsen
Solution Approach 1:
The system transitions from static rigid connections to dynamic connections where carrier assemblies can be selectively connected or disconnected from actuation rods. This dynamic configuration allows the system to adapt between operational mode (with connections for precision) and maintenance mode (without connections for accessibility).
Solution Approach 2:
The indirectly-connected carrier assemblies are extracted from the rigid actuation mechanism, allowing them to be easily removed or accessed for maintenance without disassembling the entire actuation system. This extraction simplifies repair operations while maintaining pitch adjustment capability through the directly-connected carriers.
3Stability of the object's composition
If all carrier assemblies are directly connected to actuation rods, then movement synchronization is improved, but ease of operation and maintenance worsen
Solution Approach 1:
The carrier assembly population is segmented into directly-connected and indirectly-connected groups, allowing the system to maintain synchronization through the directly-connected portion while improving maintenance ease by making the indirectly-connected portion accessible and removable.
Solution Approach 2:
Both directly-connected and indirectly-connected carrier assemblies perform the same pick-and-place function, but with different connection characteristics. This multi-functionality allows the system to achieve both synchronization and ease of maintenance through different instances of the same component type.
Data Source
AI summary
An end effector for the packaging industry comprises has a frame, a bridge on top of the frame, a rack and pinion assembly, actuation rods, carrier assemblies, and vacuum ports. The rack and pinion assembly is configured to be operatively connected to a robot's rotatable shaft, and to the actuation rods. The actuation rods are fixedly connected to one or more of the carrier assemblies. As the robot's shaft rotates, the rack and pinion assembly is actuated, which actuates the actuation rods, which causes the carrier assemblies fixedly connected to the actuation rods to move longitudinally along the frame. Each carrier assembly includes a carrier block and at least one pick-up member. Each carrier block has at least one arm with a grabber to cooperate with an adjacent arm with grabbers of an adjacent carrier block(s) of the same subgroup.