Removable Wrist Joint for Telemanipulator End Effector Replacement

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Solution Overview

Problem

Current telemanipulator systems require laborious and impractical processes to replace end effectors, often necessitating a breach of isolated environments or the use of additional manipulator systems, due to complex and cumbersome designs.

Innovation Solution

A remote arm with a detachable wrist joint and floating gearbox assembly that allows for easy coupling and decoupling of end effectors, enabling rapid replacement without breaking the isolation seal, using a bayonet-style connection and alignment interfaces for secure mechanical communication.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If current telemanipulator designs are used, then the end effector can be replaced, but the process is slow and laborious requiring tools and breaching the isolated environment

Engineering Contradiction:

Improveease of end effector replacementVSAvoidtime for end effector replacement

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The wrist joint is divided into separable components with a detachable coupling mechanism. The coupling interface includes a coupling member with protrusions that engage with recesses in the wrist joint housing, allowing the end effector to be segmented from the main manipulator body for rapid replacement without tools or breaching the isolated environment.

Inventive Principle:

Principle #1Segmentation

2Reliability

If current telemanipulator designs are used, then the end effector is securely connected, but the connection mechanism is complex and cumbersome

Engineering Contradiction:

Improvesecurity of end effector connectionVSAvoidcomplexity of coupling mechanism

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The coupling mechanism is segmented into discrete engagement elements (protrusions and recesses) that provide secure connection through simple geometric interlocking, eliminating the need for complex fasteners, bolts, or multi-step locking mechanisms while maintaining reliable attachment.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of using a traditional locking mechanism that requires active engagement steps, the design uses passive geometric interlocking where protrusions on the coupling member naturally engage with complementary recesses in the wrist joint housing, reversing the conventional approach to achieving secure connection.

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentEP3429500B1Removable wrist joint

Publication Date: 2023.08.16 DELAWARE CAPITAL FORMATION INC

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AI summary

A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework, which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.