Multifunctional End Effector With Waterjet Catcher and Orthogonal Tool Layout
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Solution Overview
Problem
Existing waterjet cutting systems face limitations in efficiency and versatility due to the dissipation of energy in water baths and the need for continuous operation with vacuum systems, which can hinder precise cutting and material removal.
Innovation Solution
A multifunctional end effector system that integrates a fluid stream cutting system, a milling spindle system, and a scanning system, allowing for different orientations and configurations, including a rotatable design with a mounting arrangement for fluid stream catchers, enabling compact and flexible operation with magnetic force generation for secure alignment and fluid management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of energy
If a waterjet cutter uses a large bath to dissipate energy, then cutting capability is improved, but system complexity and space requirements increase
Solution Approach 1:
The patent extracts the energy dissipation function from a large water bath and concentrates it into a compact catcher housing. The housing captures and contains the waterjet stream after cutting, allowing energy dissipation in a localized area rather than requiring a large bath environment.
Solution Approach 2:
The catcher housing is integrated with the nozzle assembly in a nested configuration, where the housing surrounds and contains the waterjet path. This nesting allows the dissipation system to be embedded within the cutting system itself, reducing overall complexity and space requirements.
2Loss of energy
If a waterjet cutter uses a fixed housing with aperture to catch streams, then energy recovery is improved, but adaptability to different cutting configurations decreases
Solution Approach 1:
The housing is designed with movable and adjustable components that allow it to adapt to different cutting configurations. The aperture and internal structures can be repositioned or reconfigured depending on the specific cutting task, enabling the same housing to serve multiple functions while maintaining energy recovery capability.
Solution Approach 2:
The housing is designed as a universal component that can accommodate various nozzle types and cutting configurations. By incorporating adjustable features and standardized mounting interfaces, the housing serves multiple functions including stream catching, energy dissipation, and adaptability to different cutting operations.
3Productivity
If vacuum hoses are connected to housing to remove water and material, then continuous operation is improved, but system complexity and potential interference with cutting precision increase
Solution Approach 1:
The vacuum removal system is merged with the catcher housing into an integrated unit. The housing itself incorporates vacuum ports and channels that directly connect to the removal system, eliminating the need for separate external vacuum hoses and reducing overall system complexity while maintaining continuous operation capability.
4Adaptability or versatility
If multiple systems (waterjet, milling, scanning) are integrated in end effector, then versatility is improved, but device complexity and spatial requirements increase
Solution Approach 1:
The multiple systems are arranged in different spatial dimensions and orientations within the end effector. The waterjet nozzle, milling spindle, and scanning device are positioned along different axes and at different depths, allowing them to operate independently without interfering with each other while maintaining a compact overall structure.
Data Source
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AI summary
A multifunctional end effector includes a support structure (70) configured to be carried by a robotic system and at least two of a fluid stream cutting system (12), a spindle system (14) and/or a scanning system (16), each mounted to the support structure (70). Also described is a fluid stream cutting system (12) having a plurality of fluid stream catchers (59,114) selectively mountable to the fluid stream system (12) and a mounting arrangement (100) for mounting each fluid stream catcher (59, 114) to the fluid stream cutting system (16).