Robotic Manipulator with Variable Hardness Gripper for Curved Block Assembly
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Solution Overview
Problem
Conventional methods for constructing curved structures like spheres, partial spheres, domes, and arches using blocks are labor-intensive, require skilled labor, and involve high construction costs due to the need for custom architectural and engineering preparation, as well as the use of temporary support structures, which are not efficiently addressed by existing automated or semi-automated construction techniques.
Innovation Solution
A manipulator system with an end effector featuring a resilient member that changes hardness and size to securely engage and transfer blocks, allowing for automated or semi-automated construction of spheres, partial spheres, domes, and arches by orienting and placing blocks with precision, using a hydraulic or pneumatic system and a three-position valve, without the need for pre-fabricated forms or scaffolding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional blocks and manual construction methods are used, then construction flexibility and adaptability are maintained, but labor intensity and construction time increase significantly
Solution Approach 1:
The patent replaces manual mechanical construction with an automated robotic system that uses computer vision, automated manipulation, and controlled material deposition to assemble blocks, thereby reducing labor intensity while increasing construction speed and productivity
Solution Approach 2:
The robotic system performs self-positioning and self-adjustment through automated vision systems and feedback control mechanisms, eliminating the need for continuous human intervention while maintaining construction flexibility and adaptability
2Manufacturing precision
If skilled labor is used for custom shaping blocks, then construction precision and quality are improved, but labor costs and skill availability requirements increase
Solution Approach 1:
The patent replaces skilled human labor with an automated robotic system equipped with computer vision and automated manipulation capabilities that can precisely position and fit blocks without requiring human skill or custom block shaping
Solution Approach 2:
The system uses real-time parameter adjustment through automated vision systems and feedback control to achieve precise block fitting, replacing the need for skilled workers to manually adjust and shape blocks
3Reliability
If temporary support structures and forms are used, then construction stability and structural accuracy are ensured, but device complexity and construction cost increase
Solution Approach 1:
The patent replaces physical temporary support structures with a digital control and vision system that guides the robotic manipulator to precisely place blocks, ensuring structural accuracy through automated positioning rather than physical formwork
Solution Approach 2:
The system uses digital models and vision systems to create a virtual representation of the target structure, allowing the robotic system to replicate the desired geometry with high precision without requiring physical forms or templates
4Productivity
If automated construction systems are implemented, then productivity and construction speed are improved, but system complexity and initial investment cost increase
Solution Approach 1:
The automated construction system is divided into modular functional components including vision subsystems, robotic manipulation modules, material handling systems, and control software, allowing the complex system to be managed through independent, interchangeable modules that can be implemented incrementally
Solution Approach 2:
The robotic system is designed with multi-functional capabilities that can handle various block types, orientations, and construction configurations, reducing overall system complexity by using a single versatile platform rather than multiple specialized systems
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
This solution reduces labor costs and construction time by enabling precise and efficient assembly of curved structures using blocks or panels, eliminating the need for temporary support structures and skilled labor, while ensuring accurate and uniform results.
Implementation Method 1
using a hydraulic or pneumatic system and a three-position valve
Implementation Method 2
using a hydraulic or pneumatic system and a three-position valve
Data Source
AI summary
A manipulator configured for transferring a block having a core, the manipulator includes an end effector including an elongated member including a tip; and a resilient member configured for assuming a first state in which the resilient member has a first hardness and first size and a second state in which the resilient member is configured for assuming a second state in which the resilient member has a second hardness and second size, the resilient member is disposed on the tip, wherein the elongated member is configured to be disposed such that the tip is disposed within the core and the resilient member is disposed in the first state before the resilient member is disposed in the second state to engage the core and the elongated member is moved to transfer the block.