Adaptive Suction Gripper for Tilted Package Palletizing
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Solution Overview
Problem
Existing palletization and depalletization systems face challenges in handling packages of variable sizes and orientations, particularly when packages are tilted, leading to potential damage and inefficiencies due to manual intervention.
Innovation Solution
A gripper system with movable suction cups and linear shafts, equipped with a ball-and-socket joint and annular motor, allows for adaptive gripping and straightening of tilted packages, enabling automated handling without damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an ordinary gripper is used to pick up packages, then the system can handle packages in ordinary positions, but packages arriving in tilted positions may be damaged and manual intervention is required
Solution Approach 1:
The gripper employs movable linear shafts that allow the suction cups to dynamically adjust their position and orientation. This dynamic capability enables the gripper to adapt to tilted packages by moving the suction cups to appropriate locations, thereby maintaining package integrity without manual intervention.
Solution Approach 2:
The system changes the spatial parameters (position and orientation) of the suction cups through the movable linear shafts. By adjusting these parameters, the gripper can accommodate packages in various orientations, resolving the contradiction between handling versatility and package safety.
2Reliability
If the system stops to manually pick up tilted packages, then package damage risk is reduced, but system throughput is reduced
Solution Approach 1:
The gripper system performs self-adjustment through its movable linear shafts, automatically adapting to tilted packages without requiring external manual intervention. This self-service capability maintains both package integrity and system throughput by eliminating interruptions.
Solution Approach 2:
The dynamic adjustment mechanism allows the system to continue operating smoothly by automatically compensating for tilted packages, thereby maintaining high throughput while ensuring package safety through adaptive gripping.
3Adaptability or versatility
If fixed suction cup position is used, then the gripper structure is simple, but the gripper cannot adapt to tilted packages
Solution Approach 1:
The gripper incorporates movable linear shafts that add dynamic capability to the structure. This enables the suction cups to adjust their position according to package orientation, achieving adaptability while keeping the overall structure relatively simple through the use of linear motion mechanisms.
4Adaptability or versatility
If multiple suction cups are used to grip packages, then packages of variable size can be handled, but the complexity of positioning each suction cup increases
Solution Approach 1:
The movable linear shafts provide a standardized dynamic positioning mechanism that can be applied to multiple suction cups. This uniform approach simplifies the overall positioning complexity while enabling the system to handle packages of variable sizes through coordinated movement of the suction cups.
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 efficient, automated handling of packages of varying sizes and orientations, reducing damage risks and manual intervention, and optimizing system throughput.
Implementation Method 1
a second end carrying a suction cup the suction cup being connected to a vacuum device
Data Source
AI summary
A gripper intended to be mounted on a robot of a loading/unloading system in order to grip, when it is actuated, a package to be moved from or to a container, the gripper comprising a frame carrying a plurality of gripping devices each having a first end attached to the frame and a second end carrying a suction cup (303), the suction cup being connected to a vacuum device. In one aspect, each suction cup can be actuated individually to grip the package by suction; and a gripping device comprises a linear shaft that is movable with respect to the frame and can move the suction cup of the device between a retracted position and an advanced position. A parcel loading/unloading system using this gripper, as well as to a method of using the system is also disclosed.