Offset-Joint Micromanipulator for Confined-Space Welding Paths
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Solution Overview
Problem
Conventional welding robots are limited by their bulkiness and inability to access confined spaces or perform complex weld paths, requiring disassembly of components for repair and being unsuitable for highly constrained environments.
Innovation Solution
A micromanipulator is mounted on a macromanipulator, comprising a connection plate with offset rotational joints and motors, allowing for precise control of a welding torch or other tools to navigate complex paths and confined spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a heavy and bulky robot is used for welding, then the robot can move at high speeds in easy to access areas, but the robot cannot access confined spaces and requires disassembly of components for repair
Solution Approach 1:
The robotic system is divided into two segments: a macromanipulator (heavy and bulky robot) for gross positioning and a micromanipulator (lightweight, flexible) for fine positioning and accessing confined spaces. This segmentation allows each component to be optimized for its specific function, resolving the contradiction between speed and adaptability.
Solution Approach 2:
The micromanipulator is mounted on the end effector of the macromanipulator, creating a nested structure where the smaller, more flexible manipulator is contained within the larger, more powerful one. This nesting allows the system to combine the advantages of both manipulators.
2Productivity
If a heavy and bulky robot is used for welding, then the robot can perform welding operations, but the robot is limited to simple paths and easy to access areas
Solution Approach 1:
The robotic system is divided into two segments: a macromanipulator (heavy and bulky robot) for gross positioning and a micromanipulator (lightweight, flexible) for fine positioning and accessing confined spaces. This segmentation allows each component to be optimized for its specific function, resolving the contradiction between speed and adaptability.
3Ease of manufacture
If the welding tool is mounted to the end effector of a heavy robot, then welding operations can be performed, but the end effector manipulation and usability are limited
Solution Approach 1:
The robotic system is divided into two segments: a macromanipulator (heavy and bulky robot) for gross positioning and a micromanipulator (lightweight, flexible) for fine positioning and accessing confined spaces. This segmentation allows each component to be optimized for its specific function, resolving the contradiction between speed and adaptability.
Solution Approach 2:
The micromanipulator introduces dynamic flexibility to the end effector, allowing it to adapt its position and orientation independently of the heavier macromanipulator. This dynamic capability improves ease of operation while maintaining welding capability.
Data Source
AI summary
A micromanipulator for mounting on the end of a macromanipulator, the micromanipulator comprising: a connection plate with a at least a first and second motor connected to a rigidly mounted base section, a first rotational section connected to the base section about a pivotable axis, the first rotational section being further connected to a slider rod which is connected to the first motor, and a second rotational section connected to the first rotational section about a pivotable axis, the second rotational section being further connected to a slider rod which is connected to the second motor and wherein the rotational joints between the base section and first joint section and the rotational joint between the first and second rotational sections are offset by 90°.