Hose Routing in Programmable Motion Robotic Systems
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Solution Overview
Problem
Existing robotic pick-and-place systems with large diameter hoses face challenges in flexibility, space usage, and weight due to their rigidity, which restricts the robot's mobility and freedom of movement in a large workspace.
Innovation Solution
A programmable motion robotic system with a hose routing scheme where the hose is attached to at least two adjacent arm sections at a joint, allowing the joint portion of the hose to remain outside the plane of motion or define a plane parallel to the axis of rotation, thereby minimizing bending and stress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a larger diameter hose is used to sustain vacuum with higher air flow, then vacuum sustainability is improved, but flexibility and mobility are worsened
Solution Approach 1:
The hose is routed in three-dimensional space around the articulated arm, utilizing the spatial volume available in the robot's workspace. Instead of a simple linear path, the hose follows a complex 3D trajectory that goes around joints and arm sections, allowing it to accommodate arm movement while maintaining adequate length and tension for vacuum sustainability.
Solution Approach 2:
The hose routing is designed to be dynamic, adapting its configuration as the articulated arm moves through different positions. The hose naturally reconfigures itself around moving joints and arm sections, maintaining functionality throughout the robot's range of motion without requiring active adjustment mechanisms.
2Loss of energy
If a larger diameter hose is used to reduce friction and air flow losses, then energy efficiency is improved, but weight and space requirements are worsened
Solution Approach 1:
The hose routing applies different characteristics to different sections of the hose based on local requirements. Sections near joints and moving parts have different routing configurations compared to sections in stable areas, optimizing both energy efficiency and mechanical properties where needed without unnecessarily increasing weight throughout the entire hose length.
3Adaptability or versatility
If the hose is routed to follow the contours of the articulated arm, then mobility is improved, but bending stress and cyclic loading are worsened
Solution Approach 1:
The hose routing is segmented into different sections, with specific attention given to joint portions. The joint portion is specifically routed to remain outside the plane of motion or define a plane parallel to the axis of rotation, separating it from the high-stress in-plane bending region and protecting it from cyclic loading.
Solution Approach 2:
The joint portion of the hose is positioned in a different dimensional plane than the arm's motion plane. By routing the hose outside the plane of motion or parallel to the rotation axis, the hose experiences minimal bending stress during arm movement, as it moves with the joint rather than bending repeatedly.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach reduces the maximum bending energy and cyclic loading on the hose, enhancing its durability and allowing for greater mobility and flexibility of the robotic system within a large workspace.
Implementation Method 1
This approach reduces the maximum bending energy and cyclic loading on the hose
Data Source
AI summary
A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and a hose coupling an end effector of the programmable motion robotic system to a vacuum source, the hose being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.