Expandable Bladder End Effector for Non-Planar Suction
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Solution Overview
Problem
Conventional suction-based end effectors struggle to handle items without planar surfaces, as they often lose suction or damage items due to inertial forces during movement, especially when dealing with complex or irregular shapes.
Innovation Solution
An end effector with a pliable body member and an inflatable bladder that adjusts its suction area to better contour non-planar surfaces, using actuators to deform the interface system and maintain a seal, allowing for the manipulation of items with complex shapes at higher velocities and accelerations without suction loss or damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional suction-based end effector is used to handle items, then items with planar surfaces can be suctioned, but items without planar surfaces or with complex shapes cannot be handled effectively
Solution Approach 1:
The end effector employs a dynamically adjustable suction area through an expandable bladder that can change its surface area in response to item geometry. The bladder transitions between expanded and deflated states to adapt the suction interface to non-planar surfaces, enabling reliable sealing on complex-shaped items while maintaining suction force during movement.
Solution Approach 2:
The invention changes the physical parameter of the suction area size by inflating or deflating the bladder. This parameter adjustment allows the end effector to optimize its contact area with items of varying geometries, improving both adaptability to complex shapes and reliability of suction during acceleration phases.
2Productivity
If the suction area is increased to handle larger items, then more items can be handled, but inertial forces during movement overcome suction force causing item drop
Solution Approach 1:
The end effector dynamically adjusts the suction area size based on the specific item being handled and the required acceleration levels. By reducing the suction area when high acceleration is anticipated, the system increases suction pressure density and maintains grip strength against inertial forces, while still achieving high throughput by quickly adapting to different item sizes.
Solution Approach 2:
The system changes the suction area parameter in real-time based on operational requirements. When handling smaller or lighter items requiring high acceleration, the bladder deflates to reduce area and increase suction pressure density. When handling larger items at lower speeds, the bladder expands to maximize coverage, optimizing the balance between productivity and force requirements.
3Device complexity
If a rigid suction cup is used, then the structure is simple, but it cannot contour non-planar surfaces forming poor seals
Solution Approach 1:
The end effector incorporates a flexible bladder made of elastomeric material that can deform and contour to non-planar surfaces. This flexible membrane maintains a reliable seal on curved and irregular surfaces while keeping the overall device structure relatively simple. The bladder's flexibility allows it to adapt to various item geometries without requiring complex mechanical adjustment mechanisms.
Solution Approach 2:
The bladder provides dynamic adaptability to surface geometry through its elastic deformation capability. Rather than using a rigid structure that requires complex active control systems, the bladder passively conforms to the item shape through elastic deformation, maintaining seal quality while keeping the device structure simple and reliable.
4Reliability
If the suction area is reduced to improve seal quality on complex shapes, then better sealing is achieved, but the handling capacity for larger items decreases
Solution Approach 1:
The end effector dynamically switches between different suction area configurations based on the item being handled. When encountering complex shapes requiring high seal quality, the bladder deflates to reduce area and maximize sealing contact. When handling simple, large items, the bladder inflates to expand the suction area and maximize handling capacity. This dynamic switching enables the system to optimize both seal quality and productivity across different operational scenarios.
Solution Approach 2:
The system changes the suction area parameter adaptively based on item characteristics. By monitoring item geometry and operational requirements, the bladder adjusts its volume and surface area accordingly. This parameter change strategy allows the end effector to achieve maximum seal quality on complex shapes while maintaining high handling capacity for simpler, larger items, effectively resolving the trade-off between these two performance aspects.
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 the efficient and secure handling of items with complex or irregular shapes by forming and maintaining an improved seal, enhancing throughput and reducing the risk of damage during movement.
Implementation Method 1
a bladder that is selectively inflatable (or otherwise expandable) to cause the end effector to present a second suction area less than the first suction area
Implementation Method 2
A vacuum source is in fluid communication with the inner recess and is configured to apply a suction force to the inner recess
Data Source
AI summary
Aspects described herein include an end effector that includes a pliable body member defining an inner recess and having a sealing surface at a distal end. The sealing surface forms a seal with items and defines a first suction area. The end effector also includes an inflatable bladder that expands into the inner recess. When the bladder is in an inflated state, the bladder defines a second suction area smaller than the first suction area. The end effector also includes a vacuum port in fluid communication with the inner recess.