Flexible Robotic Arm Feed Mechanism for Automated Insertion
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Solution Overview
Problem
Existing robotic systems for inserting flexible robotic arms into confined or difficult-to-reach workspaces are cumbersome and require manual operation, leading to operator strain and potential injury due to uneven weight distribution and lack of automation.
Innovation Solution
A feed mechanism with interchangeable core sections and adjustable drive wheels, coupled with an encoder and light gate, allows for flexible robotic arms of varying diameters to be inserted and rotated efficiently, using a motor-driven spur gear system and worm gears for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual feeding of the robotic arm is used, then the operator can control the insertion process, but operator strain and potential injury occur due to the heavy weight of the robotic arm
Solution Approach 1:
The patent replaces the manual mechanical feeding system with an automated mechanical system. A feed mechanism comprising a feed section and a drive section is provided, where the drive section includes drive wheels that can be adjusted to engage with the robotic arm. The system uses a motorized winch mechanism with a cable to automatically feed and retract the robotic arm, eliminating the need for manual operation and reducing operator strain while maintaining control over the insertion process.
2Strength
If the robotic arm has a larger diameter, then it can accommodate heavier tools and more compliant sections, but it becomes more difficult to feed into the access port
Solution Approach 1:
The patent employs dynamic adjustment mechanisms to adapt the feed system to different robotic arm diameters. The drive wheels are mounted on adjustable axles that can be repositioned radially to match the diameter of the robotic arm being fed. Additionally, the feed mechanism includes a telescopic feed section that can extend and retract, allowing the system to accommodate varying lengths and diameters of robotic arms, thereby enabling heavier tools and more compliant sections while maintaining ease of feeding.
3Adaptability or versatility
If the robotic arm is made more compliant with heavier sections at the distal end, then it can perform more complex tasks in confined spaces, but the uneven weight distribution makes feeding difficult
Solution Approach 1:
The patent incorporates a support mechanism that provides counterbalancing force to compensate for the uneven weight distribution of the robotic arm. A support roller or idler wheel is positioned to contact the robotic arm at a point that provides mechanical advantage, effectively counteracting the weight of the heavy distal sections. This allows the robotic arm to maintain its compliant design with heavier tools and sections for enhanced task capability while reducing the difficulty of feeding into the access port.
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
Enables automated and safe insertion and retraction of flexible robotic arms, reducing operator strain and enabling precise positioning, suitable for various robotic arm diameters and environments.
Implementation Method 1
an encoder and light gate, allows for flexible robotic arms of varying diameters to be inserted and rotated efficiently
Implementation Method 2
using a motor-driven spur gear system and worm gears for precise control
Implementation Method 3
using a motor-driven spur gear system and worm gears for precise control
Data Source
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AI summary
A feed mechanism for inserting and/or retracting a flexible robotic arm from an area, the feed mechanism comprising a housing, a passageway that extends about a central longitudinal axis through the length of the housing, a drive portion and a rotational portion, the drive portion not being fixedly connected within the housing and having at least a pair of drive wheels coupled to a drive motor, the drive wheels are connected to a mounting frame with the mounting frame being connected to pivotable linkages with at least one of the linkages being connected to a spring, such that the expansion or contraction of the spring allows the drive wheels to move relative to the longitudinal axis, and the rotational portion being coupled to a motor, the rotational motor having a gear system that connects to the drive portion and causes a rotation of the drive portion about the central longitudinal axis within the housing.