Robotic Gripping EOAT Coupling for Compact Jaw Retention
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Solution Overview
Problem
Existing robotic gripping systems face issues with jaws slipping off due to insufficient friction and bulkiness, limiting their applicability to narrow parts and requiring complex tooling changes for different part shapes.
Innovation Solution
A compact, low-profile EOAT design with improved mechanical coupling interfaces that securely retains jaws and part-gripping fingers, allowing for versatile gripping orientations and easy engagement/disengagement, using Schunk DPG-plus grippers and KSP-160 plus vise configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the EOAT uses a pair of forks with long length and wide spacing to engage jaws, then the jaws can be retained on the EOAT, but the jaws become relatively bulky and cannot accommodate narrow part-gripping fingers
Solution Approach 1:
The engagement interface is segmented into multiple contact points including forks and additional engagement features distributed along the jaw body. This segmentation allows narrow fingers to engage at multiple points without requiring long-spanning forks, maintaining retention reliability while accommodating compact geometries
Solution Approach 2:
The engagement mechanism extends beyond a single平面 to utilize three-dimensional engagement features including forks, engagement surfaces, and positioning elements arranged in multiple dimensions. This allows compact finger designs to achieve secure engagement through multi-axis contact points
2Ease of operation
If the EOAT is opened to release clamping force, then the gripping action is released, but insufficient friction causes the jaws to slip or fall off due to gravity
Solution Approach 1:
The engagement features are pre-configured to provide positive mechanical retention before clamping force is applied. Engagement surfaces, forks, and positioning elements are arranged to establish secure mechanical coupling in advance, ensuring jaws remain retained even when the EOAT transitions to the open state without sufficient friction
Solution Approach 2:
Mechanical engagement features such as forks, engagement surfaces, and positioning elements act as intermediaries between the EOAT and jaws. These intermediaries provide positive retention through geometric constraints and mechanical interlocking, independent of friction forces that may be insufficient when the EOAT is opened
3Reliability
If the EOAT uses long, spaced-apart apertures for jaw engagement, then the jaws can be retained, but the overall design becomes bulky and not suitable for narrow parts
Solution Approach 1:
Engagement features are nested within the compact EOAT structure, with forks and engagement elements arranged in a space-efficient configuration. The engagement interface is integrated into the EOAT body rather than extending outward, reducing the overall profile while maintaining reliable jaw engagement through multi-point contact
Solution Approach 2:
The engagement mechanism utilizes three-dimensional arrangement of contact points including forks, engagement surfaces, and positioning features distributed in multiple dimensions. This allows compact finger designs to achieve secure engagement through multi-axis contact points without requiring long-spanning apertures
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 EOAT ensures stable gripping under gravity and normal acceleration, facilitating rapid tool changes and accommodating a wide range of part sizes with adjustable fingers and jaws, reducing setup time and costs.
Implementation Method 1
there may be insufficient friction between the forks of the EOAT and the apertures of the jaws to retain the jaws on the EOAT
Data Source
AI summary
Disclosed are mechanical interfaces of an end-of-arm-tool (EOAT) and part-gripping devices. The EOAT mechanical interface is for operatively coupling a gripper actuator to the part-gripping device. The part-gripping device mechanical interface is matable to the EOAT mechanical interface for operatively coupling the EOAT to the part-gripping device. Among other improvements, also disclosed are improved gripper fingers.