Clip Insertion Gripper with Internal Guidance and Rectangular Actuators

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Solution Overview

Problem

Existing gripper technologies are heavy and require complex twisting movements, leading to potential damage to the electrical wiring and a high risk of damage to the electrical wiring, and the semi-circular configuration of cylinder-piston actuators limits the maximum payload capacity of industrial robots, and the semi-circular configuration of the gripper tooling results in a high payload capacity of the gripper tooling, and the semi-circular configuration of the gripper tooling, and the semi-circular configuration of the gripper tooling, which is not suitable for high precision and reliability.

Innovation Solution

The gripper tooling uses precision cylinders with an internal guiding system, reducing weight and allowing for a rectangular array of clip positioning actuators, enabling more clips to be applied per cycle and preventing twisting movements, thus reducing cycle times and enhancing precision and reliability.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Weight of moving object

If conventional cylinder-piston actuators with external guiding systems are used, then the gripper tooling can achieve clip insertion functionality, but the assembly becomes quite heavy, limiting the number of actuators to about six to guarantee weight does not exceed maximum robot payload

Engineering Contradiction:

Improvegripper tooling weightVSAvoidnumber of clips inserted per cycle

Core Design Contradiction:

Weight of moving objectVSProductivity

Solution Approach 1:

The patent merges the guiding function directly into the cylinder-piston actuator structure itself, eliminating the need for separate external guiding systems. This integration reduces the overall weight of each actuator unit while maintaining the required precision for clip insertion, thereby enabling the installation of more actuators (up to twelve) within the robot's payload capacity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent transitions from a semi-circular arrangement of actuators to a rectangular array configuration. This dimensional reorganization allows for more actuators to be compactly arranged in two rows, maximizing the use of available space while maintaining accessibility for clip insertion operations.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Reliability

If semi-circular configuration of cylinder-piston actuators is used, then the gripper tooling can be assembled, but repeated rotation movements cause electrical wiring to be continuously twisted, creating high risk of damage

Engineering Contradiction:

Improveelectrical wiring durabilityVSAvoidgripper tooling positioning capability

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

Instead of rotating the gripper tooling to position actuators (which twists wiring), the patent inverts the approach by using a rectangular array where actuators can be positioned through linear movements only. This eliminates the rotational component that causes wiring torsion, thereby improving reliability while maintaining positioning capability.

Inventive Principle:

Principle #13The other way round (Inversion)

3Device complexity

If conventional external guiding systems are used with cylinder-piston actuators, then the actuators can be mounted, but the guiding system adds significant weight and complexity to the gripper tooling assembly

Engineering Contradiction:

Improveguiding system structureVSAvoidclip positioning accuracy

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The patent extracts the guiding function from the separate external system and incorporates it directly into the actuator structure. This eliminates the redundant external guiding components, reducing overall complexity and weight while preserving the precision required for accurate clip positioning and insertion.

Inventive Principle:

Principle #2Taking out (Extraction)

4Productivity

If more cylinder-piston actuators are installed in semi-circular configuration, then more clips can be inserted, but the weight exceeds maximum payload capacity of industrial robots

Engineering Contradiction:

Improvenumber of clips inserted per cycleVSAvoidgripper tooling weight

Core Design Contradiction:

ProductivityVSWeight of moving object

Solution Approach 1:

The patent combines the guiding function within the actuator structure itself, eliminating external guiding systems. This integration significantly reduces the weight of each actuator unit, enabling the installation of up to twelve actuators in a rectangular array configuration, thereby increasing productivity while staying within robot payload limits.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS20250375904A1A gripper tooling for inserting clips in workpieces

Publication Date: 2025.12.11 ABB (SCHWEIZ) AG

AI summary

Disclosed herein is a gripper tooling comprising a frame and a plurality of clip positioning actuators mounted on the frame, wherein each clip positioning actuator comprises a cylinder with an internally guided piston, and a finger attachment for a fingertip at a distal end of the piston. In embodiments, the clip positioning actuators may be mounted on the frame in positions adjacent to each other in a rectangular array of at least two rows. Also disclosed are a clipping cell and a method for inserting clips in workpieces.