Compact Manipulator Arm Balancing for Manual Work Stations
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Solution Overview
Problem
Existing lifting devices for manual work stations are inefficient, complex, and occupy valuable workspace, failing to provide a compact and easy-to-handle solution for operators using heavy tools like electric moment of force wrenches and screwdrivers.
Innovation Solution
A compact lifting device with a manipulator arm pivotally connected to a framework, featuring a balancing arrangement that generates a balancing force to counteract gravitational forces, allowing the arm to rotate freely and maintain equilibrium, thus reducing operator effort and allowing for flexible tool positioning within a workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a vertical post or upright support is used to hold the manipulator arm, then the manipulator arm can be supported and positioned, but the device occupies additional workspace and becomes less compact
Solution Approach 1:
The framework integrates multiple support functions into a single unified structure that serves both as the base support and as part of the manipulator arm assembly, eliminating the need for separate vertical posts or upright supports
Solution Approach 2:
The framework is designed to perform multiple functions simultaneously: providing structural support, serving as a mounting base for the manipulator arm, and enabling rotational movement, thereby replacing what would traditionally require multiple separate components
2Ease of operation
If a balancing device is added to compensate for gravitational force, then operator effort is reduced, but the device complexity increases
Solution Approach 1:
The balancing device generates a counterbalancing force that opposes the gravitational force acting on the manipulator arm, compensating for weight and reducing the effort required by the operator to move and position the arm
Solution Approach 2:
The balancing device utilizes pneumatic or hydraulic mechanisms to generate the necessary counterbalancing force, providing a compact and efficient solution that avoids complex mechanical linkages
3Stability of the object's composition
If the manipulator arm is made extendable with a first balancing device, then moment balance is maintained during rotation, but the device complexity increases
Solution Approach 1:
The first balancing device is designed to be extendable or adjustable, allowing it to dynamically adapt its length or position to maintain moment balance as the manipulator arm rotates through different angles and configurations
Solution Approach 2:
The balancing mechanism adjusts its physical parameters (such as length, position, or force magnitude) in response to the manipulator arm's orientation, maintaining moment balance across the full range of motion through continuous parameter modification
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
The solution reduces operator fatigue and stress injuries by maintaining moment balance about the joint, allowing for easy maneuverability and compact construction, while ensuring the tool remains accessible and does not interfere with other activities when not in use.
Implementation Method 1
a first balancing device, which first balancing device is extendable... adapted to generate a first balancing force which, through the interaction between the first end portion of the manipulator arm and the second part of the balancing arrangement, maintains a moment balance about the first joint with respect to the gravitational force acting on the manipulator arm
Data Source
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AI summary
Lifting device comprising a framework (2) and a manipulator arm (8) pivotally connected to the framework. The manipulator arm comprises a first end portion (19) and a second end portion (13) adapted to carry a tool (20). A balancing arrangement (7; 30, 39) comprises a first part (7a; 30a; 39a) connected to the framework and a second part (7b; 30b; 39b) adapted to interact with the first end portion. At least one of the manipulator arm and the balancing arrangement comprises a first balancing device (11; 31; 34), which is extendable to ensure that interaction between the second part and the first end portion is maintained. The first balancing device is adapted to generate a first balancing force which maintains a moment balance about the first joint. The manipulator arm has at least two rotational degrees of freedom in a first spherical coordinate system (17).