End Effector With Three-Point Support for Stable Tray Lifting
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Solution Overview
Problem
Conventional methods for handling and moving cases or carrier trays containing products are inefficient and often require manual labor due to the flimsy nature of the trays and unprotected product tops, which can lead to distortion and disengagement from machines.
Innovation Solution
An end effector comprising an upright mast, a gripper, a support plate, and a compressor arm, which can engage the sides, bottoms, and tops of packages, respectively, to lift and move them from one location to another, facilitated by a robot or automaton.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional lifting methods are used on carrier trays, then the trays can be moved, but the trays distort and disengage from machines due to unprotected can tops shifting
Solution Approach 1:
The end effector is divided into three distinct engagement components: a bottom engagement member that contacts the carrier tray bottom, a can engagement member that contacts the can bodies, and a top engagement member that contacts the can tops. This segmentation allows each component to perform its specific function independently, providing stable support throughout the lifting process without causing tray distortion or can top damage
Solution Approach 2:
The can engagement member acts as an intermediary between the bottom engagement member and the top engagement member. By contacting the can bodies mid-section, it provides intermediate support that prevents the can tops from shifting during lifting, thereby maintaining carrier tray stability without requiring direct contact between the tray bottom and lifting force
2Reliability
If manual handling is used for cases and carrier trays, then damage to trays and products is minimized, but labor time and costs increase substantially
Solution Approach 1:
The end effector is designed with multi-functional engagement members that can contact different parts of the same object (tray bottom, can bodies, can tops) simultaneously. This universal design allows a single automated device to perform the protective function of manual handling while enabling automated high-speed operation, thus maintaining product integrity without sacrificing productivity
Solution Approach 2:
The end effector components are configured to dynamically adapt to the loaded carrier tray configuration. The engagement members can adjust their contact points and forces based on the actual position and weight distribution of cans and trays, providing protective handling similar to manual operation while maintaining automated efficiency
3Force
If lifting force is applied to the carrier tray bottom, then the tray can be moved, but the can tops shift and the tray distorts
Solution Approach 1:
Instead of applying lifting force at a single location (tray bottom), the end effector applies distributed contact forces at multiple locations: the bottom engagement member contacts the tray bottom, the can engagement member contacts the can bodies, and the top engagement member contacts the can tops. This local quality distribution prevents stress concentration that would cause tray distortion and can top shifting
Solution Approach 2:
The end effector establishes preliminary contact with all three engagement members (bottom, mid-can, and top) before applying full lifting force. This preliminary action ensures that the can tops are supported and restrained from shifting before the main lifting force is applied to the tray bottom, thereby maintaining structural integrity during the lifting process
Data Source
AI summary
Generally, an end effector adapted to engage and move an object from a first location to a second location. Specifically, an end effector including one or more of a gripper movable on an upright mast to engage an object side, a support plate extendable in relation to the upright mast to engage an object bottom, and compressor arm movable on the upright mast to engage an object top, the end effector can be moved to correspondingly move the object.