Frame-Traversing Robot Joints for Collision-Free Facility Access
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Solution Overview
Problem
Conventional industrial robots are limited by the structure of aisles and walkways in large facilities, restricting their speed and number of machines served, and pose safety concerns due to collisions with humans and fixed objects. Gantry robots, while mitigating some issues, are confined by preinstalled gantries and require significant capital investment.
Innovation Solution
A robotic apparatus with multi-degree of freedom joints and end effectors that can traverse fixed frames, using bus bars for power and attachment, allowing it to adapt to various environments and work alongside existing automation systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional industrial robots operate on floor level, then they can access various locations in facilities, but they pose safety concerns due to possible collisions with humans and fixed objects
Solution Approach 1:
The robotic apparatus transitions from floor-level operation to overhead operation by traversing along the ceiling perimeter of the facility. This dimensional change allows the robot to access storage locations above floor level without interfering with human workers and fixed objects on the floor, thereby eliminating collision risks while maintaining versatility in accessing stored items.
2Object-affected harmful factors
If gantry robots operate on overhead systems, then collision risks are reduced, but their movements are confined by preinstalled gantries and require significant capital investment
Solution Approach 1:
The robotic apparatus employs a dynamic traversal mechanism that moves along the ceiling perimeter rather than being fixed to a preinstalled gantry system. The robot can dynamically position itself at different locations along the ceiling by extending its rigid body sections and adjusting its configuration, providing flexibility without requiring complex fixed infrastructure.
Solution Approach 2:
The robotic apparatus is designed with universal end effectors that can attach to various storage locations and handle different types of objects. The same robot can serve multiple functions including picking, placing, and transporting objects of varying sizes and weights, eliminating the need for specialized equipment for different tasks.
3Ease of operation
If conventional robots travel within existing aisle pathways, then they can navigate facility layouts, but their speed is limited which restricts the number of machines and racks they can serve
Solution Approach 1:
The robotic apparatus operates in the overhead space above existing aisles rather than traveling within them. This allows the robot to move freely along the ceiling perimeter without being constrained by aisle widths, turn radii, or floor-level obstacles, dramatically increasing its travel speed and the number of storage locations it can service per unit time.
4Volume of stationary object
If storage facilities increase in size, then more storage capacity is available, but conventional robots become less efficient due to longer travel distances within fixed pathways
Solution Approach 1:
The robotic apparatus uses a dynamic configuration system with extendable rigid body sections that allow it to adjust its reach and positioning as facility sizes increase. The robot can extend its body sections to reach more distant storage locations without proportionally increasing travel distance, maintaining efficiency even as storage facilities expand in size.
Data Source
Figure 1A~1B
Figure 2
Figure 3
AI summary
A robotic apparatus (200) including a plurality of rigid body sections (210A, 210B, 210C) that move relative to each other by one or more multi-degree of freedom joints (212, 214). The robotic apparatus (200) can traverse a fixed frame (120) by attaching its distal ends (230A, 230B) to the frame (120) and moving the rigid body sections (210A, 210B, 210C) relative to each other.