Dual-Gripper End Effector for Item and Container Handling
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Solution Overview
Problem
Existing picking robots and grippers are inadequate for handling small items and containers, requiring complex conversions or impractical space adjustments, and are not suitable for dual human-robot use in logistics systems.
Innovation Solution
An end effector with an elongated main body and a gripper carrier that includes load carrier grippers, such as suction grippers, claw grippers, or magnetic grippers, allowing simultaneous handling of items and containers without time-consuming tool changes, and featuring a rotatable gripper carrier for flexible control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing suction grippers are used for handling containers, then container gripping is achieved, but they are not suitable for gripping small items with dimensions of a few decimeters and weight up to 5 kg
Solution Approach 1:
The end effector is divided into functionally independent components: a load carrier gripper for container handling and separate article grippers for small item handling. This segmentation allows each component to be optimized for its specific function while working together as an integrated system, resolving the contradiction between container gripping capability and small item gripping suitability.
Solution Approach 2:
The end effector is designed as a multi-functional device that can handle both containers and small items through its composite structure. The load carrier gripper handles containers while the article grippers handle small items, making the single end effector universal for different handling tasks without requiring separate devices.
2Adaptability or versatility
If typical item grippers are used for gripping small items, then small item handling is achieved, but they are not suitable for gripping and moving load carriers or containers
Solution Approach 1:
The end effector separates container handling functions from small item handling functions into distinct gripper components. The load carrier gripper is specifically designed for container manipulation while article grippers handle small items, allowing each to be optimized for its intended purpose.
Solution Approach 2:
The end effector combines multiple gripping capabilities in a single device, enabling it to perform both container handling and small item handling tasks. This multi-functionality eliminates the need for separate gripper systems while maintaining optimal performance for each function.
3Ease of operation
If conveyor technology is retrofitted to transport target containers on the same level, then container transport is improved, but the complexity increases and space constraints are violated
Solution Approach 1:
The patent extracts the container handling function from the conveyor system and places it in the robot's end effector. By equipping the robot with a load carrier gripper, the system can pick and place containers at the same level without requiring complex conveyor infrastructure, thereby simplifying the overall system while maintaining ease of operation.
4Adaptability or versatility
If tool changes are used to switch between container and item handling, then functionality is maintained, but time is consumed
Solution Approach 1:
The load carrier gripper and article grippers are merged into a single integrated end effector assembly that can perform both container and small item handling functions. This integration eliminates the need for time-consuming tool changes between different gripper types, as the robot can switch between functions by activating different grippers within the same end effector structure.
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 and flexible handling of both small items and containers, optimizing space utilization and enabling seamless human-robot collaboration in logistics systems.
Implementation Method 1
a load carrier gripper (24) for gripping source or target containers (28, 30) is provided between the proximal and distal ends on a longitudinal side surface (12a) of the end effector main body (12)... the load carrier gripper (24) is a suction gripper
Data Source
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AI summary
The invention relates to an end effector for a picking robot comprising an elongated end effector main body (12) and an article gripper (18a, 18b) or a gripper carrier (14) with multiple article grippers (18a, 18b), wherein the end effector main body (12) has a proximal end for connection to a gripper arm of the picking robot and a distal end, the gripper or gripper carrier being arranged at the distal end of the end effector main body (12). It is proposed that a load carrier gripper (24) for gripping source containers (28) or target containers (30) be provided between the proximal end and the distal end on a side surface (12a) extending longitudinally along the end effector main body (12).