Manipulator With Interchangeable Guide Wall For Quick Trajectory Change
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Solution Overview
Problem
Existing manipulator devices for 'pick-and-place' operations are inflexible and laborious to reconfigure, requiring disassembly and reassembly to change the trajectory of the gripping element, leading to significant downtime and inefficiency.
Innovation Solution
A manipulator design featuring a cam-transferor coupling and sliding cross coupling allows the gripping arm to follow a predefined curved path, with an actuation group positioned between the load-bearing structure and guide wall, enabling easy access and replacement of the guide wall without disassembling other components, allowing for quick modification of the path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the support path of the gripping element is varied by replacing plates with different groove shapes, then the trajectory flexibility is improved, but the device complexity and reconfiguration time increase significantly
Solution Approach 1:
The manipulator is divided into modular components: a fixed base structure, interchangeable guide walls with different groove shapes, and a gripping element. This segmentation allows the guide wall to be replaced independently without disassembling the entire manipulator, enabling trajectory changes while maintaining structural integrity and reducing reconfiguration complexity.
Solution Approach 2:
The guide wall containing the groove is extracted as a separate, interchangeable component from the manipulator system. By removing only the guide wall rather than the entire manipulator assembly, the invention enables quick trajectory modifications while minimizing device disassembly and reassembly operations.
2Adaptability or versatility
If the entire manipulator is disassembled and reassembled to change the trajectory, then the adaptability is improved, but the loss of time and productivity decrease significantly
Solution Approach 1:
The manipulator is segmented into a permanent base structure and an interchangeable guide wall component. This allows trajectory changes by replacing only the guide wall rather than the entire manipulator, dramatically reducing reconfiguration time and maintaining high productivity.
Solution Approach 2:
Multiple guide walls with different groove shapes are prepared in advance and can be quickly swapped. The interchangeable design allows operators to pre-select and replace guide walls without complex disassembly procedures, minimizing downtime for trajectory adjustments.
3Stability of the object's composition
If multiple components are installed before the plates to prevent easy access, then the structural stability is improved, but the ease of operation for plate replacement worsens
Solution Approach 1:
The guide wall is extracted as an independently accessible component that can be removed from the base structure without disassembling other components. This extraction maintains structural stability during operation while enabling easy access for maintenance and trajectory modifications.
Solution Approach 2:
The manipulator design transitions from a fixed, integrated structure to a dynamic, modular configuration where the guide wall can be easily installed and removed. This dynamic design allows the system to maintain stability during operation while providing operational flexibility for quick reconfiguration.
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
Enables rapid and simple modification of the gripping element's trajectory, reducing downtime and operational complexity, allowing any operator to change the path without technical expertise.
Implementation Method 1
a cam-transferor coupling (10) comprising a guide channel, or cam (13), made in a guide wall (15)... and a driven pin or transferor (14), projecting transversally to said mobile gripping arm (20), slidingly engaged in said cam (13)
Implementation Method 2
a sliding cross coupling (30)... so that each point of the mobile gripping arm (20) follows a trajectory equal to said curved path (4)
Data Source
AI summary
Manipulator (1) for moving and positioning a piece between a first position (2) and a second position (3) along a predefined path (4), having: a load bearing structure (40) provided with a support element ( 44); a mobile arm for gripping the piece (20 ) comprising a driven pin or transferor (14) projecting transversally to said mobile gripping arm (20); - a guide wall (15) supported by said support element (44) having a rear face (15' ') facing towards the support element and an opposite front face (15 ' ), wherein said guide wall ( 15 ) comprises a curved guide groove or cam configured to slidingly engage said driven pin or transferor (14) so that said pin or transferor can follow the curvilinear guide groove or cam (13) for its entire length dragging the mobile arm (20); - an input shaft of the oscillating rotary movement (51) rotatably connected to said support element (44) in a substantially orthogonal manner to the guide wall (15), said shaft defining an axis of rotation (S-S); - an oscillating arm (52) fixed orthogonally to said input shaft of the movement (51), said oscillating arm having a groove (53) radial with respect to the input shaft of the movement (51), said radial groove (53) slidingly engaging said driven pin or transferor (14) so that said driven pin or transferor (14) can travel along the radial groove (53) for its entire length; so that the input shaft of oscillating rotary movement (51) drags in rotation the oscillating arm, said oscillating arm dragging the driven pin or transferor simultaneously along the radial groove and along the guide groove, dragging the mobile arm (20) along said predefined path (4); wherein said manipulator is characterized in that: - the input shaft of the oscillating rotary movement (51) and the oscillating arm (52) are both positioned on the side of the rear face (15' ') of the guide wall (15), and the mobile gripping arm (20) is positioned on the side of the front face (15') of the guide wall (15).