Reconfigurable Robotic End-Effector Assembly with Swing Locks
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Solution Overview
Problem
Traditional industrial robots require manual adjustment of end-effectors for different work tasks, limiting their flexibility and efficiency in handling various workpieces of different sizes, shapes, and materials.
Innovation Solution
A reconfigurable end-effector assembly with a master boom, frame rail, and branch rails, secured by swing branch and swing arm locks, which can be automatically reconfigured using a configuration tool to adapt to different workpieces without manual flipping, allowing for flexible positioning and orientation of end tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual adjustment of end-effectors is used for different work tasks, then the robot can handle various workpieces, but the system downtime and operational complexity increase
Solution Approach 1:
The end-effector assembly incorporates movable components including a movable branch rail that can be repositioned along the frame rail, and a movable end tool that can be adjusted along the branch rail. These dynamic elements allow the system to adapt to different workpiece configurations without requiring complete tooling changes, thereby reducing system downtime while maintaining versatility.
Solution Approach 2:
The end-effector assembly is designed as a multi-functional system where the same assembly can handle various workpieces through reconfiguration of the movable branch rail and end tool positions. The locking mechanism enables this single assembly to perform multiple functions across different work tasks, eliminating the need for separate tooling for each workpiece type.
2Adaptability or versatility
If manual adjustment of end-effectors is used for different work tasks, then the robot can handle various workpieces, but the operational efficiency decreases
Solution Approach 1:
The dynamic reconfiguration capability of the end-effector assembly, with its movable branch rail and end tool positioned by automated locking mechanisms, enables rapid adaptation to different workpieces. This eliminates time-consuming manual adjustments and maintains high operational efficiency while preserving the ability to handle diverse workpiece varieties.
3Device complexity
If fixed end-effector configuration is used, then the system structure is simple, but the flexibility to handle different workpieces is limited
Solution Approach 1:
The end-effector assembly introduces controlled dynamic elements (movable branch rail and end tool with locking mechanisms) into an otherwise relatively simple structure. This allows the system to maintain structural simplicity while gaining the flexibility to reconfigure for different workpieces, achieving a balance between device complexity and adaptability.
Data Source
AI summary
An end-effector assembly includes a master boom, a frame rail coupled thereto, and at least one branch rail movably coupled to the frame rail by a swing branch lock. The swing arm is movably coupled to the at least one branch rail by a swing arm lock. Each of the swing branch lock and the swing arm lock further includes a clamp configured to movably secure the branch rail to the frame rail or the swing arm to the branch rail. A pivot shaft extends through the clamp and is configured to rotationally secure the clamp in place. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. A locking fastener extends through the swing plate and into the pivot shaft and is configured to lock and unlock the clamp in position.