Robotic End Effector With Rollers for Pose Adjustment
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Solution Overview
Problem
Conventional robotic end effector tools are inadequate for autonomously handling and orienting a wide variety of items during order fulfillment, as they cannot adjust the pose of a grasped item without releasing it, leading to inefficiencies in picking and packing.
Innovation Solution
A robotic end effector tool with multiple manipulator elements, including a suction cup and actuatable fingers with rollers, allows for the adjustment of an object's orientation without releasing it, enabling secure grasping and reorientation for efficient picking and packing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional robotic end effector uses a single gripping mechanism, then the device complexity is low, but the adaptability to handle various item types and adjust pose is insufficient
Solution Approach 1:
The end effector is divided into multiple independent manipulator elements (suction cup, fingers, rollers) that can operate independently or in combination. Each element handles specific tasks: suction cup for initial grasping, fingers for clamping and positioning, rollers for rotation. This segmentation allows versatile pose adjustment without requiring a completely complex reconfigurable mechanism.
Solution Approach 2:
The end effector combines multiple manipulator elements that can perform multiple functions. The same set of elements (suction cup, fingers, rollers) can handle various item types (different sizes, shapes, weights) and perform both picking and packing operations with pose adjustment, making the device universally applicable to diverse fulfillment tasks.
2Ease of operation
If the robot releases the item to adjust pose, then the orientation can be changed, but the productivity decreases due to time-consuming release and re-grasping
Solution Approach 1:
The roller mechanism enables continuous pose adjustment while the item remains securely held by the end effector. The item is grasped initially by the suction cup and/or fingers, then rollers rotate the item to the desired orientation without release, and the grasp is maintained throughout. This continuous grasping eliminates the release-regrasping cycle, maintaining productivity while enabling pose adjustment.
3Reliability
If the suction cup remains extended during manipulation, then the item can be securely held, but the fingers and rollers cannot access the item for reorientation
Solution Approach 1:
The suction cup is made movable between extended and retracted positions dynamically. During initial grasping, the suction cup is extended to secure the item. During manipulation and reorientation by fingers and rollers, the suction cup retracts to allow access while maintaining item security through the other manipulator elements. This dynamic positioning resolves the conflict between secure holding and manipulator accessibility.
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 secure handling of diverse items by allowing the robot to change the object's orientation relative to the end effector, improving pick and pack efficiency by maintaining a secure grasp throughout the process.
Implementation Method 1
a suction cup movable relative to the body between a retracted position and an extended position
Implementation Method 2
a roller coupled to at least one of the fingers such that the roller rotatable about a first axis
Data Source
AI summary
A robotic end effector tool having multiple manipulator elements. The end effector includes a body, a suction cup movable relative to the body between a retracted position and an extended position, a plurality of fingers spaced around the suction cup and being actuatable between an open condition and a clamped condition, and a roller coupled to at least one of the fingers such that the roller is arranged to rotate about a first axis. The combination of the suction cup, the fingers and the rollers are arranged to pick an item and adjust the orientation of an object without setting the object down.