Multi-Cartridge Robot End Effector for Confined Space Dispensing
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Solution Overview
Problem
Automating the deposition of extrudable substances, such as sealants, in confined spaces within structures like aircraft components is challenging due to space constraints and the need to navigate around obstacles, which complicates the use of robots for precise and efficient application.
Innovation Solution
A robot end effector with a chassis, mixer mount, cartridge bays, and a drive mechanism that allows for the selective positioning and rotation of two-part cartridges, enabling fluidic communication and efficient dispensing of extrudable substances through a static mixer and valve system, reducing waste and enabling continuous operation without pausing for cartridge replacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot is used to deposit extrudable substance in confined spaces, then automation is achieved, but the robot must navigate around obstacles and maneuver end effector which complicates the operation
Solution Approach 1:
The end effector is divided into multiple cartridge bays (first bay, second bay, third bay) that can be independently positioned and operated. This segmentation allows the robot to access confined spaces more easily while maintaining automated deposition capability, as each bay can be selectively activated based on the specific deposition location required.
Solution Approach 2:
The cartridge bays are configured to be movable relative to each other and to the mixer, allowing dynamic repositioning during operation. This enables the robot to adapt to different confined space geometries and obstacle configurations while maintaining automated operation, resolving the contradiction between automation and ease of maneuvering.
2Productivity
If multiple cartridges are used for continuous operation, then productivity is improved, but the device complexity increases due to multiple cartridge bays and positioning mechanisms
Solution Approach 1:
Multiple cartridge bays are integrated into a single end effector unit that shares common control and positioning mechanisms. This multi-functional design allows continuous operation with multiple cartridges while minimizing the increase in overall device complexity, as the bays utilize shared structural and control resources.
Solution Approach 2:
The cartridge bays are arranged in a nested or compact configuration where multiple bays are integrated within a shared housing structure. This nesting approach enables continuous operation with multiple cartridges while reducing the overall footprint and complexity of the positioning mechanisms required.
3Manufacturing precision
If cartridges are positioned precisely for fluidic communication, then manufacturing precision is improved, but the positioning mechanism complexity increases
Solution Approach 1:
The cartridge bays incorporate self-aligning features and automatic positioning mechanisms that reduce the complexity of external positioning systems. The cartridges themselves are designed to guide their own positioning into the correct fluidic communication alignment with the mixer, thereby achieving high manufacturing precision without proportionally increasing device complexity.
4Volume of moving object
If the robot enters through a small access port, then space constraints are accommodated, but the end effector manipulation becomes more difficult
Solution Approach 1:
The end effector is segmented into multiple independent cartridge bays that can be selectively positioned and activated. This segmentation allows the overall end effector to maintain a compact size suitable for small access ports while enabling complex manipulation tasks through coordinated operation of individual bays.
Solution Approach 2:
The cartridge bays are arranged in multiple dimensions (stacked or side-by-side configurations) allowing the end effector to access confined spaces through small ports while maintaining manipulation capability. The multi-dimensional arrangement enables selective activation of bays based on the specific deposition location, effectively adding spatial flexibility without increasing the minimum access port size required.
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 allows for precise and efficient deposition of extrudable substances in confined spaces, reducing waste and enabling continuous operation, thus improving manufacturing efficiency and reducing costs by allowing robots to operate effectively in tight spaces without the need for frequent pauses or reloading.
Implementation Method 1
a mixer mount, extending from the chassis and configured to rotatably receive a static mixer that comprises a mixer inlet and a mixer outlet
Implementation Method 2
a drive mechanism, attached to the chassis and selectively operable to rotate the static mixer relative to the cartridge bays
Implementation Method 3
a dispensing valve, attached to the chassis and comprising a valve inlet and a valve outlet. The valve outlet is in selective fluidic communication with the valve inlet
Implementation Method 4
the plurality of cartridge bays is moved to a predetermined position with respect to the chassis, linearly along a first axis and linearly along a second axis
Data Source
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AI summary
A robot end effector (100) for dispensing an extrudable substance (102) comprises cartridge bays (122). Each one of the cartridge bays (122) is shaped to receive one of two-part cartridges (104). Each of the two-part cartridges (104) comprises a cartridge outlet (109). The robot end effector (100) also comprises a head assembly (150), comprising pairs of fittings (152). Each pair of the pairs of fittings (152) is configured to selectively supply compressed air from a pressure source (199) to contents of one of the two-part cartridges (104) when the two-part cartridges (104) are received by the cartridge bays (122) and the cartridge bays (122) are translated along a first axis (190) and along a second axis (192) so that the cartridge outlet (109) of the corresponding one of the two-part cartridges (104) is in fluidic communication with the mixer inlet (103).