Adjustable Suction Gripper for Mixed-Size 3D Bulk Picking
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Solution Overview
Problem
Existing pick and place robots struggle to efficiently handle objects of various sizes and shapes in bulk, particularly in 3D environments, due to limitations in gripping configuration and adaptability.
Innovation Solution
A controllable gripper with four slidably arranged arms and a base part, actuated by a system of rotation electric motors, allowing for various gripping configurations to accommodate objects of different sizes and shapes. The gripper can change its configuration quickly to grip objects with random sizes and shapes, and is compact enough to navigate in narrow spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed configuration gripper is used, then the structure is simple, but it cannot adapt to objects of various sizes and shapes
Solution Approach 1:
The gripper employs four arms that can slide relative to the base part along perpendicular axes, transforming the static fixed configuration into a dynamic adjustable structure. This allows the gripping members to form various gripping quadrangle sizes by controlling the arm positions, enabling adaptation to objects of different sizes and shapes while maintaining a relatively simple structural design.
Solution Approach 2:
The gripper is divided into a base part and four separate arms that can move independently relative to each other. This segmentation allows each arm to be controlled separately to achieve different gripping configurations, providing versatility without requiring a completely complex reconfigurable structure.
2Area of stationary object
If the gripper has a large gripping area, then it can handle large objects, but it occupies too much space in narrow spaces
Solution Approach 1:
The four arms are arranged to move along respective axes perpendicular to a central vertical axis through the base part, allowing the gripper to dynamically adjust its gripping area. When fully extended, the arms provide a large gripping area for large objects; when retracted, they occupy minimal space for navigation in narrow spaces, achieving both large gripping capability and compact form factor.
Solution Approach 2:
The arms can be retracted close to the base part when not in use, allowing the gripper to occupy minimal space. This nesting capability enables the gripper to navigate in narrow spaces while still providing a large gripping area when the arms are extended to their full length for handling large objects.
3Productivity
If the gripper changes configuration quickly, then it can handle random objects at high speed, but the control system becomes more complex
Solution Approach 1:
The gripper uses a controllable actuator system with at least two separately controllable rotation electric motors to dynamically adjust the arm positions and gripping configuration in real-time. This allows the gripper to quickly adapt to random objects of different sizes and shapes at high speed, with the motors providing precise control over the four arms' positions to achieve the desired gripping quadrangle configuration.
Data Source
Figure 1a~1b
Figure 2a~2c
Figure 2d
AI summary
The invention provides a controllable gripper for a robot. A plurality of gripping members, e.g. suction cups, are arranged to engage with a surface of an object to be gripped. The gripping members are arranged in a controllable gripping configuration. A base part is arranged to be moved by a robotic actuator, e.g. a gantry type of robotic actuator. Two or more arms connected to the base part are slidably arranged along their lengths relative to the base part. Each arm has a gripping member at or near its distal end. A controllable actuator system is arranged to control position of the arms in different directions, relative to the base part, thus allowing various gripping configurations to be formed with respect to at least size. Especially, four arms of fixed length, each with a suction cup, may be actuated by one or two electric motors, so a to allow the four suction cups to form various gripping quadrangle sizes. This allows the gripper to be capable of gripping small and large objects in random order, since the gripping configuration can be rapidly changed. Still, the gripper can be formed rather simple with few elements, and yet it is flexible and can be very compact in a compressed state of the arms to allow navigation into narrow spaces, e.g. to grip an object in a 3D bulk of objects. The gripper is preferably mounted to a robotic actuator by means of a controllable rotation and tilting arrangement.