Reconfigurable Robotic End-Effector Assembly
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Solution Overview
Problem
Traditional industrial robots require manual assembly and adjustment of end-effector assemblies for specific tasks, limiting their versatility and efficiency in handling various workpieces of different sizes, shapes, and materials.
Innovation Solution
A reconfigurable end-effector assembly featuring a master boom, crossbar, branch rails, and swing arm, with telescopic and locking mechanisms that allow for automatic repositioning and locking/unlocking via a configuration tool, enabling the assembly to adapt to different workpieces without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual assembly and adjustment of end-effector assemblies is used for specific tasks, then the robot can be configured for particular workpieces, but the versatility and efficiency in handling various workpieces of different sizes, shapes, and materials is limited
Solution Approach 1:
The end-effector assembly incorporates movable branch rails that can be repositioned along the master boom to different locations, allowing the same end-effector to handle workpieces of varying sizes and shapes. The branch rails can be locked at multiple positions along the master boom, providing dynamic reconfiguration capability without requiring manual disassembly or complex tooling changes.
2Productivity
If fixed end-effector configuration is used, then the structure is simple and stable, but extensive tooling changes are required for different workpieces, increasing downtime and costs
Solution Approach 1:
The end-effector assembly is segmented into modular components including the master boom, multiple branch rails, and swing arms. Each branch rail can be independently repositioned along the master boom and locked at different positions. This segmentation allows rapid reconfiguration for different workpiece sizes and shapes without requiring complete tooling changes, thereby reducing downtime and improving manufacturing efficiency.
3Extent of automation
If telescopic and locking mechanisms are added to enable automatic repositioning, then the robot can adapt to different workpieces without manual intervention, but the device complexity increases
Solution Approach 1:
The branch rails are equipped with self-contained telescopic and locking mechanisms that enable automatic repositioning along the master boom. The locking mechanism includes a lockable carriage that can be positioned at different locations along the master boom and secured without manual intervention. This self-service capability allows the robot to automatically adapt to different workpiece configurations while maintaining controlled device complexity through standardized mechanical components.
Data Source
AI summary
An end-effector assembly comprising a master boom, a crossbar coupled to the master boom, at least one branch rail, and a swing arm is provided. The at least one branch rail is movably coupled to the crossbar by a branch lock. The at least one branch rail has a driving groove formed longitudinally therealong for telescopic movement relative to the crossbar. The branch lock comprises a crossbar clamp and a branch rail clamp. The crossbar clamp is slidably and pivotally disposed about the crossbar for slidable and pivotal movement therealong. The branch rail clamp comprises a body having a primary telescoping lock including a receiving bore formed therethrough and a wedging collet disposed in the receiving bore. The body further comprises a secondary telescoping lock having a ball and a plunger disposed in a ball-plunger cavity of the body.