End Effector Pin Force Application for Orientation Stability
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Solution Overview
Problem
Conventional end effectors face challenges in securely supporting and transferring objects of varying shapes and sizes, particularly when used in orientations other than the gravity direction, due to reduced force transmission efficiency and instability.
Innovation Solution
The end effector design incorporates hole plates with pins and a cushion material, where inner pins pass through holes and are movable, and outer pins apply an inward force to inner pins, ensuring stable support and transfer by maintaining force application across different orientations through a combination of pin geometry and force application mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional end effectors use simple pin structures without force application mechanisms, then the device complexity is reduced, but the force transmission efficiency and stability deteriorate when used in orientations other than gravity direction
Solution Approach 1:
The end effector employs movable pins that can dynamically adjust their positions and orientations based on the target object's geometry. The pins are not fixed but can move within the hole plates, allowing the structure to adapt dynamically to different orientations and object shapes, thereby maintaining reliability without excessive complexity
Solution Approach 2:
The patent implements a nested structure where inner pins are positioned within outer pins, and both are positioned within hole plates. This nested arrangement allows multiple functions to be integrated: outer pins provide structural support while inner pins make contact with the target object, achieving reliable force transmission in various orientations through a compact, multi-layered design
2Device complexity
If conventional end effectors lack inward force application to pins, then the device complexity is reduced, but the force transmission efficiency deteriorates
Solution Approach 1:
The force application is segmented into multiple components: outer pins apply inward force to inner pins, and the hole plates provide structural support. This segmentation allows the force transmission to be distributed across multiple elements, improving overall force transmission efficiency without requiring a single complex force application mechanism
Solution Approach 2:
The inner pins act as intermediaries between the outer pins and the target object. The outer pins apply inward force to the inner pins, which then transmit this force to the target object. This intermediary mechanism enables efficient force transmission while maintaining a relatively simple overall structure
3Adaptability or versatility
If pins are allowed to move freely without constraints, then the adaptability to various object shapes is improved, but the pin displacement control and stability deteriorate
Solution Approach 1:
The hole plates provide localized constraints for the pins, allowing movement in specific directions while preventing displacement in other directions. This local quality control enables the pins to adapt to various object shapes within the holes while maintaining stable positions through the structural support of the hole plates
Solution Approach 2:
The pins are designed to be movable rather than fixed, allowing them to dynamically adjust their positions to conform to the target object's shape. The movement is constrained by the hole plates, creating a dynamic system that balances adaptability with stability
Data Source
AI summary
An end effector includes: one or more hole plates each including a plurality of holes; a cushion material to be used together with the one or more hole plates; a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins; and a force application portion that applies an inward force to the plurality of outer pins. The plurality of inner pins pass through the plurality of holes and the cushion material and are movable within a first distance in a pass-through direction of the plurality of holes with respect to the one or more hole plates.