Rotating Manipulator Module With Through-Actuator Cable-Free Rotation
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Solution Overview
Problem
Existing manipulator designs face limitations in continuous rotation of gripper modules due to cable twisting and snagging issues, and hydraulic actuators are bulky and pose environmental risks, while slip-rings introduce noise and wear.
Innovation Solution
A manipulator module with a linear actuator extending through a rotatable housing segment, driven by separate electric motors, eliminating the need for external cabling and allowing continuous rotation, and incorporating a controller to compensate for linear movement during rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If power and communication cables are 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 possible rotation
Solution Approach 1:
The patent extracts the cable routing problem by eliminating the need for external cables entirely. The power and communication connections are transferred to an internal pathway through the rotate module, removing the vulnerable external cable from the system. This resolves the contradiction by eliminating the harmful element (external cable) while maintaining the simple structural principle.
Solution Approach 2:
The patent implements nesting by routing the power and communication cable through the internal structure of the rotate module. The cable is nested within the rotate module's housing, allowing it to pass through the rotation joint without being exposed externally. This enables continuous rotation while protecting the cable from damage.
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 eventually reach a limit beyond which it cannot be twisted further
Solution Approach 1:
The patent introduces a slip ring assembly as an intermediary device between the rotate module and the gripper module. The slip ring provides a continuous electrical connection that can accommodate rotational movement without twisting. This mediator allows the cable to remain stationary while electrical power and signals are transmitted through the rotating interface, enabling continuous rotation.
Solution Approach 2:
The patent replaces the mechanical cable routing system with an electrical contactless transmission system using the slip ring. Instead of relying on a flexible cable to bend and twist, the system uses electromagnetic fields to transmit power and signals through the rotating joint. This substitution eliminates the physical limitations of cable twisting.
3Ease of operation
If a slip-ring device is used to transmit power and electrical signals, then continuous rotation is enabled, but contact resistance is significant and sliding electrical contacts are prone to wear
Solution Approach 1:
The patent replaces the mechanical sliding contact system with a contactless electromagnetic transmission system. The slip ring assembly uses electromagnetic fields to transfer power and signals without physical contact between moving parts. This eliminates wear and contact resistance issues while maintaining continuous rotation capability.
4Adaptability or versatility
If separate rotate and gripper modules are used, then functional independence is achieved, but device complexity increases and internal cable routing becomes necessary
Solution Approach 1:
The patent implements universality by designing the rotate module to serve multiple functions: it provides rotational movement, houses the slip ring assembly for continuous rotation, contains the power and communication cable pathway, and supports the gripper module. This multi-functional design achieves functional independence while managing complexity through 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
Enables continuous rotation of the gripper module without cable twisting, reduces snagging risks, and achieves high gripping force with a compact design, using electric motors for efficient and reliable operation.
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
Implementation Method 3
wherein the controller is configured to activate the first electric motor to automatically compensate for linear movement of the linear actuator caused by rotation of the second housing segment relative to the first housing segment
Data Source
Figure 1A~1B
Figure 2
Figure 3
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).