Robotic Cutting End Effector With Pulley-Driven Blade Force
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Solution Overview
Problem
Existing robotic end effectors with cutting blades are oversized and have weak cutting forces, limiting their effectiveness in pruning or slicing tree limbs and branches.
Innovation Solution
A compact cutting device with a motor-driven pulley system that includes a fixed blade, a driven blade, and a serpentine-shaped driving cord, supported by larger diameter support pulleys, to enhance cutting force, combined with a gripper for secure object handling and a controller for precise torque control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a robotic end effector is designed with a cutting blade mechanism, then it can perform cutting operations on tree limbs and branches, but the existing designs are oversized and have weak cutting forces
Solution Approach 1:
The patent employs a dynamic blade mechanism where the cutting blade is actuated through a pulley system driven by a motor. The blade moves dynamically during cutting operations rather than being static, allowing for enhanced cutting force application. The motor-driven pulley assembly enables controlled blade movement that adapts to the cutting resistance encountered
Solution Approach 2:
The patent changes the physical parameters of the cutting mechanism by using a motor-driven system that can vary the speed and force applied to the blade. The pulley system provides mechanical advantage, changing the force parameters from the motor output to the blade cutting force, thereby achieving high cutting force in a compact configuration
2Volume of moving object
If the end effector is made compact to reduce size, then it becomes more maneuverable, but existing compact designs have weak cutting forces
Solution Approach 1:
The patent introduces a motor-driven pulley system as an intermediary mechanism between the motor and the cutting blade. This intermediary system provides mechanical advantage through the pulley arrangement, allowing a small motor to generate sufficient cutting force on the blade while keeping the overall end effector compact
Solution Approach 2:
The patent arranges the cutting mechanism in a compact three-dimensional configuration where the blade moves in a specific dimensional path enabled by the pulley system. This spatial arrangement allows the compact end effector to achieve high cutting force through optimized force vector application rather than relying on large component sizes
3Productivity
If a motor-driven pulley system is used to enhance cutting force, then cutting efficiency improves, but the device complexity increases
Solution Approach 1:
The motor-driven pulley assembly serves multiple functions: it acts as the power transmission mechanism, provides mechanical advantage for force multiplication, and enables controlled blade movement. This multi-functionality reduces the need for separate components, thereby managing complexity while achieving high cutting efficiency
Solution Approach 2:
The patent merges the motor, pulley system, and blade actuation mechanism into an integrated assembly. By combining these functions into a single coordinated system rather than separate components, the design achieves high cutting efficiency while controlling overall device complexity through functional integration
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
The system provides improved cutting efficiency and secure grasping, ensuring effective pruning or slicing operations with enhanced cutting forces and precise control.
Implementation Method 1
a motor-driven pulley system that includes a fixed blade, a driven blade, and a serpentine-shaped driving cord, supported by larger diameter support pulleys
Implementation Method 2
a motor-driven pulley system... supported by larger diameter support pulleys, to enhance cutting force
Data Source
AI summary
A cutting device includes a base plate, a motor attached to the base plate, a driving cord including a first end and a second end, the first end being attached to the motor, and a cutting assembly. The cutting assembly includes a fixed blade that is fixed to the base plate, and a driven blade that moves with respect to the fixed blade. The second end of the driving cord is attached to the driven blade to move the driven blade with respect to the fixed blade when the motor rotates.