Packaging End Effector With Segmented Carrier Actuation
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Solution Overview
Problem
Existing end effector designs for robotic arms in the packaging industry face challenges in efficiently picking up items from a first conveyor belt and placing them into packaging at a different pitch, with limited accessibility for maintenance and complex actuation mechanisms that complicate installation and repair.
Innovation Solution
The end effector incorporates a rack and pinion assembly with a robot interface, actuation rods connected to carrier assemblies, and cooperating members that allow indirect connection of carrier assemblies, enabling synchronized movement and easy maintenance access, along with vacuum ports for pick-up and placement operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If all carrier assemblies are directly connected to actuation rods, then movement precision is improved, but device complexity and maintenance difficulty increase
Solution Approach 1:
The carrier assemblies are divided into two groups: directly-connected carrier assemblies that are directly connected to actuation rods for precise movement control, and indirectly-connected carrier assemblies that are indirectly connected through cooperating members. This segmentation allows different movement precision requirements to be met for different carrier assemblies while reducing overall device complexity.
Solution Approach 2:
The cooperating members serve multiple functions: they connect indirectly-connected carrier assemblies to the actuation system, enable synchronized movement between directly and indirectly connected carriers, and reduce the number of direct actuation connections needed. This multi-functionality reduces device complexity while maintaining adequate movement precision.
2Ease of operation
If complex actuation mechanisms are used, then movement control is improved, but ease of repair and installation worsen
Solution Approach 1:
The actuation system is segmented into direct connections (for precision control) and indirect connections (for simplified structure). The indirectly-connected carrier assemblies use cooperating members that simplify the actuation mechanism while maintaining synchronized movement, making the system easier to repair and install.
Solution Approach 2:
Cooperating members act as intermediaries between the actuation rods and indirectly-connected carrier assemblies. These intermediaries simplify the connection mechanism compared to direct connections, making the overall system easier to assemble and repair while still enabling controlled movement.
3Stability of the object's composition
If direct connection of all carrier assemblies is used, then movement synchronization is improved, but maintenance accessibility worsens
Solution Approach 1:
Carrier assemblies are segmented into directly-connected and indirectly-connected groups. The indirectly-connected carriers use cooperating members that allow maintenance personnel to access and service components more easily while still maintaining movement synchronization through the cooperative mechanism.
Solution Approach 2:
The cooperating members serve as intermediaries that maintain movement synchronization between directly and indirectly connected carrier assemblies while providing easier access for maintenance. The intermediary mechanism allows servicing of indirectly-connected carriers without requiring disassembly of the entire actuation system.
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 design enhances the efficiency of item picking and placement by allowing flexible pitch adjustments and simplifies maintenance through improved accessibility, reducing complexity and increasing operational reliability.
Implementation Method 1
The rack and pinion assembly has a robot interface configured to be operatively connected to a robot's rotatable shaft, and an actuation interface operatively coupled to the actuation rods. As the robot's shaft rotates about its axis, the rack and pinion assembly is actuated, which in turn actuates the actuation rods, which causes the carrier assemblies fixedly connected to the actuation rods to move longitudinally along the frame.
Implementation Method 2
The end effector includes vacuum ports. The carrier assemblies each have at least one pick-up member configured to pick-up an object
Data Source
AI summary
An end effector for the packaging industry comprises has a frame, a bridge on top of the frame, a rack and pinion assembly, actuation rods, carrier assemblies, and vacuum ports. The rack and pinion assembly is configured to be operatively connected to a robot's rotatable shaft, and to the actuation rods. The actuation rods are fixedly connected to one or more of the carrier assemblies. As the robot's shaft rotates, the rack and pinion assembly is actuated, which actuates the actuation rods, which causes the carrier assemblies fixedly connected to the actuation rods to move longitudinally along the frame. Each carrier assembly includes a carrier block and at least one pick-up member. Each carrier block has at least one arm with a grabber to cooperate with an adjacent arm with grabbers of an adjacent carrier block(s) of the same subgroup.