Retractable Spearing End Effector for Irregular Item Sorting
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Solution Overview
Problem
Existing robotic systems for automated item capture and sorting in waste recycling facilities face challenges due to complex and fragile grappling fixture end effectors and vacuum end effectors that often clog or underperform on items with irregular surfaces.
Innovation Solution
A robotic spearing device equipped with a spearing end effector featuring a retractable spike and a propeller, where the spike is extended to impale items and then retracted while the propeller is activated to propel the items into a sorting receptacle, minimizing mechanical complexity and surface interaction issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If grappling fixture end effectors are used for item capture, then automated sorting can be performed, but the mechanical components become complex and fragile requiring precise positioning and orientation
Solution Approach 1:
The patent extracts the capture function from complex mechanical grappling fixtures and implements it through a simple spike that impales the item. This removes the need for complex positioning and orientation mechanisms while maintaining automated capture capability. The spike is a simple elongated member that can be extended to engage the item and retracted to release it, eliminating the complexity of traditional end effectors.
Solution Approach 2:
The patent replaces the mechanical grappling system with a hybrid approach combining a simple mechanical spike with a propeller-based ejection system. The capture function is simplified to basic impalement while the release function uses aerodynamic propulsion, substituting complex mechanical release mechanisms with a more reliable propeller-driven system.
2Extent of automation
If vacuum end effectors are used for item capture, then automated sorting can be performed, but the system becomes prone to clogging and underperforms on items with irregular surfaces
Solution Approach 1:
The patent extracts the capture function from vacuum-based end effectors and implements it through direct mechanical impalement using a spike. This eliminates the vacuum system entirely, removing the risk of clogging and the inability to handle irregular surfaces. The spike simply pierces through or onto the item, providing reliable capture regardless of surface characteristics.
Solution Approach 2:
The patent replaces the vacuum-based mechanical system with a spike-and-propeller system. The capture mechanism becomes a simple elongated member that physically engages the item, while the ejection function is handled by a propeller that propels the captured item to the sorting receptacle, providing reliable operation across diverse item types.
3Productivity
If traditional end effectors are used, then items can be captured and released, but the cycle time increases due to complex positioning and orientation requirements
Solution Approach 1:
The patent extracts the essential capture function and removes all unnecessary positioning and orientation mechanisms. The spike simply extends to impale the item and retracts to release it, eliminating the time-consuming adjustments required by traditional end effectors. This simplification dramatically reduces the cycle time while maintaining effective item capture and release.
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 robotic spearing device efficiently captures and sorts items with reduced cycle time and improved reliability, especially for items with irregular surfaces, by using a spike and propeller combination that enhances capture and ejection precision and efficiency.
Implementation Method 1
The propeller is selectively activatable to propel the selected item in a propelling direction during an ejection of the selected item from the spearing end effector
Data Source
AI summary
A spearing end effector for a robotic spearing device capturing and sorting a selected item from a mass of items and having a robotic manipulator with the spearing end effector mounted at an end thereof. The robotic spearing device comprises: a spearing end effector body; a spike; a linear actuator having the spike mounted thereon; and a propeller. The spike is configurable between a retracted configuration where it is entirely located inside the spearing end effector body and an extended configuration where it extends outwardly from therefrom. The spike is engageable to the selected item when configured in the extended configuration. The linear actuator is movable to configure the spike between the retracted configuration and the extended configuration. The propeller is selectively activatable to propel the selected item in a propelling direction during an ejection of the selected item from the spearing end effector.