Rotating Manipulator Module With Internal Actuation Path
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Solution Overview
Problem
Existing manipulator designs face limitations in continuous rotation of gripper modules due to cable twisting and external routing, which can lead to snagging, damage, and environmental hazards, while hydraulic actuators are bulky and pose safety risks.
Innovation Solution
A manipulator module design with a linear actuator extending through a rotatable housing segment, driven by separate electric motors for independent and unified operation, eliminating the need for external cabling and allowing continuous rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If power and communication cable is routed externally around the assembly, then the manipulator structure is simple, but the cable is vulnerable to being snagged or damaged and limits the extent of rotation
Solution Approach 1:
The patent extracts the cable routing problem by providing a dedicated cable routing channel within the rotate module structure. The cable is guided through a defined path that accommodates rotation while protecting the cable from external damage and preventing snagging during manipulator operation.
2Reliability
If power and communication cable is routed through the rotate module, then cable protection is improved, but the cable will twist due to relative rotation and reach a limit beyond which it cannot be twisted further
Solution Approach 1:
The patent introduces a cable routing channel as an intermediary structure that mediates between the rotating gripper module and the stationary cable supply. This channel is designed to accommodate cable movement during rotation while preventing excessive twisting, thereby enabling continuous or extended rotation without cable failure.
3Adaptability or versatility
If separate rotate and gripper modules are used, then functional independence is achieved, but the device complexity increases due to separate actuators and cable routing
Solution Approach 1:
The patent merges the rotate module and gripper module into an integrated assembly where the cable routing channel is built into the rotate module structure. This integration reduces overall system complexity while maintaining the functional independence of both modules, as the cable routing is now part of the unified structure rather than a separate routing system.
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 continuous rotation without cable twisting, reduces snagging risks, and provides a compact, efficient, and reliable mechanism for gripping and manipulating objects with high precision and force.
Implementation Method 1
a first electric motor arranged to drive the linear actuator to actuate the end effector
Implementation Method 2
a second electric motor arranged to rotatably drive the second housing segment relative to the first housing segment
Data Source
AI summary
A manipulator module (100) comprising: a first housing segment (102) configured to be connected to a manipulator; a second housing segment (104) rotatably coupled to a distal end of the first housing segment (102) such that the second housing segment (104) can rotate about a longitudinal axis relative to the first housing segment (102); a linear actuator (118), wherein a distal end of the linear actuator (118) is configured to be coupled to an end effector; a first electric motor (110) arranged to drive the linear actuator (118) to actuate the end effector; a second electric motor (112) arranged to rotatably drive the second housing segment (104) relative to the first housing segment (102); wherein the linear actuator (118) is arranged to extend from the first housing segment (102) and through the second housing segment (104).