Threaded Member End Effector for Fast Ceiling Bolt Insertion
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Solution Overview
Problem
The existing construction robot requires significant time to guide and insert hanging bolts into inserts during ceiling construction, necessitating improvements in efficiency for faster operation.
Innovation Solution
An end effector with a holding mechanism, rotating mechanism, linear moving mechanism, detecting mechanism, and controlling mechanism to efficiently position and insert threaded members into threaded holes, utilizing a driving roller and presser rollers for rotation and linear movement, and sensors for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual mounting of hanging bolts is performed by workers using scaffolding, then the operation can be completed with simple equipment, but the work efficiency is low and the process requires repeated movement of scaffolding and manual fastening many times at high places
Solution Approach 1:
The patent replaces the manual mechanical system with an automated robot system equipped with sensors, controllers, and automated manipulation mechanisms. The robot autonomously performs detection, positioning, and insertion operations, eliminating the need for manual scaffolding movement and repeated manual fastening operations.
Solution Approach 2:
The robot system performs self-positioning and self-alignment through integrated sensors and control mechanisms. The detection unit automatically locates the insert, and the control unit coordinates the manipulation unit to autonomously complete the insertion process without external intervention or repeated scaffolding repositioning.
2Extent of automation
If the construction robot guides the hanging bolt to the insert position and performs insertion, then the mounting operation can be automated, but the time required for guiding and inserting the bolt is excessive
Solution Approach 1:
The detection unit performs preliminary detection of the insert's position and orientation before the manipulation unit begins the insertion process. This advance detection allows the control unit to pre-calculate the optimal insertion path and positioning, eliminating time-wasting adjustments during the actual insertion operation.
Solution Approach 2:
The detection unit continuously provides feedback on the position and orientation of both the robot's end effector and the target insert. The control unit uses this real-time feedback to dynamically adjust the manipulation unit's movements, ensuring precise alignment and reducing the time required for positioning and insertion operations.
3Productivity
If the threaded member is held and positioned without rotation capability, then the holding mechanism is simple, but the insertion and screwing operation cannot be performed efficiently
Solution Approach 1:
The patent combines the holding function and rotation function into a single integrated manipulation unit. The holding mechanism simultaneously grasps the threaded member and provides rotational capability through an integrated drive mechanism, eliminating the need for separate rotation devices and reducing overall system complexity while maintaining high insertion speed.
Solution Approach 2:
The manipulation unit is designed with multi-functionality, serving as both a holding mechanism and a rotation mechanism. This universal component performs multiple functions (grasping, positioning, and rotating the threaded member) that would otherwise require separate dedicated mechanisms, thereby improving insertion efficiency without proportionally increasing device complexity.
Data Source
AI summary
An end effector comprising: a driving roller and presser rollers configured to hold a threaded member; a motor; a linear guide and an air cylinder including a rod configured to move the threaded member linearly along the axis of the threaded member; a detector; a robot arm; and a controller configured to: provide the threaded member near a position coaxially facing a threaded hole member by controlling the robot arm based on the position and the direction of the threaded hole member detected by the detector; and insert and screw the threaded member into the threaded hole member by controlling: the air cylinder including the rod to advance the threaded member toward the threaded hole member and insert a tip of the threaded member into the threaded hole member; and the motor to rotate the threaded member about the axis of the threaded member.