Robotic Door Closing for High-Mounted Energy Transfer Ports
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Solution Overview
Problem
Existing door closing systems for energy transfer interfaces on large work machines are impractical for human technicians to operate due to height and terrain challenges, leading to potential system malfunctions and environmental interference, especially in complex work sites.
Innovation Solution
A robotic system with an end effector equipped with a door closing system, including an interaction system and driver component, automatically closes access doors of receptacle access points using a door interaction component that applies sufficient force to overcome resistive forces and engage the access mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the door is positioned high on the machine for energy transfer interface access, then the energy transfer interface is protected from environmental conditions, but the door becomes unreachable for human technicians to close
Solution Approach 1:
A robotic system serves as an intermediary between the human technician and the high-positioned door. The robot includes a positioning system to locate the door and a manipulator system with gripper to physically close the door, eliminating the need for the technician to directly reach the high-positioned door while maintaining the protective positioning.
Solution Approach 2:
The manual mechanical action of closing the door is replaced with an automated robotic system. The robot uses sensors to detect the door position and actuates a closing mechanism, substituting human manual operation with automated mechanical/robotic action to close the high-positioned door.
2Ease of operation
If a ladder or scaffolding is used to reach the door, then the door can be closed, but the setup time and complexity increase
Solution Approach 1:
The robotic system performs self-positioning and self-operation to close the door. The robot autonomously navigates to the door location, positions its manipulator, and actuates the closing mechanism without requiring external assistance or setup of ladders or scaffolding, thereby eliminating setup time.
3Ease of operation
If another machine (elevating work platform) is used to lift the technician, then door access is enabled, but the complexity and risk of machine collision increase
Solution Approach 1:
Instead of using another machine to lift the technician, a robotic intermediary system is employed. The robot includes a positioning system to locate the door and a manipulator system to close it, serving as a simpler and safer intermediary that eliminates the need for complex elevating machinery and associated collision risks.
4Extent of automation
If a mechanical arm assembly is used to close the door, then automated door closing is achieved, but the system complexity and potential points of failure increase
Solution Approach 1:
The robotic system is divided into distinct functional modules: a positioning system for locating the door, a manipulator system for physical interaction, and a control system for coordination. This segmentation allows each module to be optimized independently and simplifies the overall system compared to a monolithic mechanical arm assembly.
Data Source
AI summary
An energy transfer system includes a robotic system and a door closing system. The robotic system includes an end effector for enabling an energy transfer to a work machine via a receptacle access point of the work machine. The door closing system is mounted on the end effector of the robotic system. The door closing system is configured to close an access door of the receptacle access point. The door closing system includes an interaction system for interacting with the access door to allow the access door to close.