End Effector Valve for Bag Handling
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Solution Overview
Problem
Existing robotic end effectors with multiple suction cups face issues when handling products with loose outer coverings, such as bread in plastic bags, as they tend to stretch or rupture the bags during vacuum application, and debris from the bags clogs the air flow system, requiring frequent cleaning.
Innovation Solution
The end effector incorporates multiple bellows with air control valves that prevent air from entering the valve chamber, allowing the plastic bag to rest on an impervious surface, reducing stretching and rupture, and utilizes air pressure to maintain cleanliness by self-flushing debris through the air passages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vacuum is applied to suction cups to pick up work products with loose outer coverings, then the work products can be held securely, but the plastic bags are stretched and may rupture
Solution Approach 1:
A valve element is introduced as an intermediary component between the vacuum source and the work product. This valve element selectively blocks the air passage to prevent vacuum from being applied directly to the plastic bag, thereby eliminating the harmful stretching and rupture while maintaining the ability to hold the work product securely through controlled vacuum application.
Solution Approach 2:
The suction cup surface is designed with different zones having different vacuum application characteristics. The valve element creates a localized control mechanism that prevents vacuum application in specific areas where the plastic bag would be affected, while allowing vacuum to be applied in other areas for secure holding of the work product.
2Reliability
If vacuum is applied to suction cups to pick up work products, then the products can be held securely, but debris from the bags clogs the air flow system
Solution Approach 1:
The valve element is designed to extract or separate the air flow path from the potential debris contamination path. By positioning the valve element to block the air passage, it prevents debris from being drawn into the internal air flow system while maintaining the vacuum holding capability, thus eliminating the clogging problem.
Solution Approach 2:
The valve element serves as a mediator that separates the vacuum holding function from the air flow path. It allows the system to maintain secure holding capability while preventing debris from contaminating the air flow system, effectively resolving the contradiction between reliable holding and debris prevention.
3Adaptability or versatility
If multiple suction cups are used to pick products at various positions, then desired pack patterns can be formed, but the end effector profile increases
Solution Approach 1:
The valve element is nested within the interior space of the bellows, utilizing the existing internal volume of the suction cup structure. This nested arrangement allows the valve mechanism to be integrated without significantly increasing the external profile of the end effector, while still providing the capability to form desired pack patterns through multiple suction cups.
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
The solution effectively prevents plastic bag stretching and rupture, reduces debris accumulation, and maintains system cleanliness by ensuring the end effector can handle products with loose coverings without damaging them and keeps the system components clean.
Implementation Method 1
multiple bellows or other type suction cup that includes a side wall defining an interior space, an open end for engaging the work product
Implementation Method 2
A valve element for each valve inlet opening is positioned in the valve chamber for registration with the valve inlet openings for blocking movement of air from the interior space of the bellows into the valve chamber
Implementation Method 3
These two air pressures are used to manipulate the valve balls, ultimately opening and closing the valve openings
Data Source
AI summary
A valve 28 is positioned in the upper portion of the interior space of the bellows 10. A flow of low pressure air is induced inside the bellows when the valve elements 40 move away from the air inlet openings 38. When high pressure air is moved into the central portion of the valve housing 30, the valve elements 40 tend to move radially outwardly to block the air passages 38 and 42, thereby terminating the suction applied to the bellows.