Unilaterally Flexible Chain Gripper for Heavy Sensitive Goods

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Solution Overview

Problem

Existing grippers struggle to efficiently move heavy and sensitive piece goods due to the need for excessive clamping force, which can damage sensitive items and is impractical for heavy loads, as they rely on overcoming static friction with clamps.

Innovation Solution

A gripper equipped with a unilaterally flexible chain that can be deflected at an angle of 70-110° and features a bending limitation device to prevent chain links from pivoting, allowing for the transmission of pushing forces to piece goods, enabling the movement of heavy and sensitive items without clamping, and includes an alignment device to maintain chain links in a stretched, non-pivoted alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If clamping force is increased to move heavy piece goods, then the gripping force is improved, but the risk of damaging sensitive items increases

Engineering Contradiction:

Improvegripping forceVSAvoiddamage to sensitive items

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

Instead of pulling piece goods with clamps from the storage surface, the invention pushes them onto the deposit table using a unilaterally flexible chain. This inversion of the force direction allows heavy items to be moved without applying damaging clamping forces, as the chain transmits pushing forces rather than gripping forces.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The invention replaces the traditional clamp-based mechanical gripping system with a unilaterally flexible chain system. The chain can be pushed in the direction of movement but cannot pull back, eliminating the need for excessive clamping force while still enabling efficient movement of heavy piece goods.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Force

If clamping force is increased to move heavy piece goods, then the gripping capability is improved, but the feasibility for heavy loads deteriorates

Engineering Contradiction:

Improvegripping capabilityVSAvoidpracticality for heavy loads

Core Design Contradiction:

ForceVSEase of operation

Solution Approach 1:

The system inverts the approach by pushing piece goods onto the deposit table rather than pulling them with clamps. This makes handling heavy loads practical by eliminating the need to overcome static friction through excessive clamping force, as the unilaterally flexible chain efficiently transmits pushing forces.

Inventive Principle:

Principle #13The other way round (Inversion)

3Adaptability or versatility

If the chain is made flexible to navigate around piece goods, then the adaptability is improved, but the ability to transmit pushing forces deteriorates

Engineering Contradiction:

Improveflexibility to navigateVSAvoidpushing force transmission

Core Design Contradiction:

Adaptability or versatilityVSForce

Solution Approach 1:

The unilaterally flexible chain has different properties in different directions: it is flexible in the articulation direction (GR2) to navigate around piece goods and adapt to positioning, but rigid in the non-articulation direction (GR1) to efficiently transmit pushing forces. This local differentiation of mechanical properties resolves the contradiction between flexibility and force transmission.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The chain's mechanical parameters are changed by introducing a bending limitation device that restricts pivoting in one direction while allowing it in another. This creates asymmetric flexibility, enabling the chain to be flexible enough to navigate around piece goods while maintaining sufficient rigidity to transmit pushing forces effectively.

Inventive Principle:

Principle #35Parameter changes

4Adaptability or versatility

If the chain links are allowed to pivot freely for flexibility, then the adaptability is improved, but the alignment and force transmission efficiency deteriorates

Engineering Contradiction:

Improvepivoting flexibilityVSAvoidchain link alignment

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The bending limitation device creates local quality differences in chain link pivoting: it allows pivoting in the articulation direction (GR2) for adaptability while restricting pivoting in the non-articulation direction (GR1) to maintain alignment and force transmission efficiency. This selective flexibility resolves the contradiction between adaptability and alignment precision.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS20230347529A1Gripper for moving piece goods and methods for moving piece goods using the gripper

Publication Date: 2023.11.02 BECTON DICKINSON ROWA GERMANY GMBH

AI summary

The present disclosure relates to a gripper and a method for moving piece goods. The gripper has a deposit table extending in first and second directions and a gripping assembly guide arrangement having a gripping assembly. The gripping assembly has a unilaterally flexible chain including a bending limitation device, a first end remote from the gripping assembly guide arrangement and a second end close to the gripping assembly guide arrangement. The unilaterally flexible chain is moved and is deflected by a deflection device in an articulation direction at an angle of between 70-110° to the first direction. The unilaterally flexible chain is arranged in such a way that pushing forces are transmitted to a piece good, and the unilaterally flexible chain has an alignment device which, in the non-articulated state, holds the chain links in a mutually non-pivoted, stretched alignment.