Robotic End Effector Cable Winding Mechanism
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic end effector devices face issues with cable entanglement and disconnection due to bending, particularly when the end effector rotates multiple times relative to the robotic hand device, limiting their operational reliability and flexibility.
Innovation Solution
A winding mechanism within the end effector device utilizing a spiral spring to rewind and secure cables, providing pseudo-elasticity and preventing foreign matter entanglement, ensuring continuous operation even with repeated rotations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector rotates multiple times relative to the robotic hand device, then the operational flexibility is improved, but cable entanglement and disconnection occur
Solution Approach 1:
The cable management system transitions from a static rigid structure to a dynamic flexible winding mechanism. The cable is allowed to wind and unwind on the reel as the end effector rotates, adapting to the changing spatial requirements while maintaining connection integrity through the spiral spring's continuous tension.
Solution Approach 2:
The cable's physical state changes from a straight, taut configuration to a wound, coiled configuration on the reel. This parameter change allows the cable to accommodate multiple rotations of the end effector without entanglement or disconnection, as the winding mechanism absorbs the rotational displacement.
2Device complexity
If a rigid cable management system is used, then structural simplicity is maintained, but cable entanglement occurs during rotation
Solution Approach 1:
The reel acts as an intermediary component between the cable and the end effector. It mediates the cable's interaction with the rotating end effector by providing a controlled winding surface, preventing direct entanglement while maintaining a relatively simple overall structure.
Solution Approach 2:
The cable itself functions as a flexible element that can be wound on the reel. This flexibility allows the cable to adapt to rotational movements without rigid constraints, preventing entanglement while maintaining structural simplicity through the use of flexible rather than rigid cable management.
3Ease of operation
If the cable is loosely wound on the output shaft, then rotation range is secured, but cable disconnection due to bending occurs
Solution Approach 1:
The spiral spring is pre-loaded to provide continuous tension on the cable before any rotation occurs. This preliminary action ensures that the cable remains taut and properly positioned during winding, preventing bending-induced disconnection while maintaining the necessary rotation range.
Solution Approach 2:
The spiral spring automatically maintains proper cable tension and positioning through its inherent elastic properties. As the cable winds on the reel, the spring self-adjusts to maintain optimal tension, preventing loose winding that could lead to disconnection while allowing full rotation range.
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 solution effectively reduces cable entanglement and disconnection risks, enhancing the operational reliability and flexibility of robotic end effector devices by mimicking the elasticity of a rubber string through the use of a spiral spring-based winding mechanism.
Implementation Method 1
The spiral spring urges the reel in a retrieval direction of the cable pulled out of the reel
Data Source
AI summary
An end effector device includes a housing, a cable, and a winding mechanism. The cable includes at least one of lines that include a power supply line and a signal line. The winding mechanism is located inside the housing and configured to wind the cable. The winding mechanism includes a case, a reel, and a spiral spring. The reel is supported in the case and allowed to rotate and wind the cable. The spiral spring urges the reel in a retrieval direction of the cable pulled out of the reel.