Robot End Effector for Continuous Two-Part Cartridge Dispensing
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Solution Overview
Problem
The automation of extrudable substance deposition in assembly processes, such as for solar panels or aircraft components, is hindered by the frequent need to pause and replace empty two-part cartridges, limiting efficiency and increasing costs due to the use of commercial off-the-shelf cartridges that yield small amounts of material.
Innovation Solution
A robot end effector with cartridge bays, a dispensing valve, and a non-rotating linear pneumatic actuator that allows for concurrent extrusion of contents from multiple cartridges, eliminating the need for manual reloading by channeling the extrudable substance through a manifold and static mixers for continuous automated deposition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If commercial off-the-shelf two-part cartridges are used, then cost is reduced, but productivity deteriorates due to frequent manual replacement
Solution Approach 1:
The system divides the cartridge handling function into multiple cartridge bays (first bay, second bay) that can operate independently. While one cartridge is being dispensed, another can be prepared or replaced, segmenting the workflow to eliminate idle time and maintain continuous deposition.
Solution Approach 2:
The system performs preliminary actions by pre-loading multiple cartridges into the cartridge bays before the deposition process begins. This allows the robot to switch between pre-prepared cartridges without pausing the automated deposition, eliminating the need for frequent manual interventions.
2Extent of automation
If automated deposition is implemented, then labor cost is reduced, but device complexity increases due to cartridge replacement requirements
Solution Approach 1:
The cartridge bays are designed with universal functionality to hold and dispense from multiple two-part cartridges simultaneously. This multi-functional design allows the same structural components to serve both storage and active dispensing roles, reducing the need for additional specialized mechanisms and thereby limiting the increase in device complexity.
3Device complexity
If single cartridge dispensing is used, then device complexity is minimized, but loss of time increases due to frequent pausing for cartridge replacement
Solution Approach 1:
The system maintains continuity of useful action by implementing multi-cartridge support with automatic switching capability. The deposition process can continue uninterrupted as the system transitions between cartridges, eliminating downtime associated with manual cartridge replacement while keeping the overall system design relatively simple.
Data Source
AI summary
A robot end effector for dispensing an extrudable substance comprises a chassis and cartridge bays, attached to the chassis and each shaped to receive a corresponding one of two-part cartridges. Robot end effector also comprises a dispensing valve, attached to the chassis and comprising a valve inlet and a valve outlet, in selective fluidic communication with the valve inlet. Robot end effector further comprises a manifold, comprising a manifold outlet and manifold inlets. The manifold outlet is in fluidic communication with the valve inlet. Robot end effector additionally comprises a plunger assembly, comprising pairs of plungers. Plunger assembly is arranged to concurrently extrude contents of the two-part cartridges through the cartridge outlets when the two-part cartridges are received by the cartridge bays. Robot end effector also comprises a non-rotating linear pneumatic actuator, configured to selectively move the plunger assembly relative to the chassis.