Flexible Gripper With Granular Material For High Force
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Solution Overview
Problem
Existing gripping tools face challenges in achieving a high gripping force due to limitations in their design, particularly in sealing and suction mechanisms, which result in reduced effectiveness when gripping workpieces.
Innovation Solution
A gripping tool with a flexible gripper containing a granular material and a specific configuration of concave and convex portions, along with a groove structure, that allows for deformation and effective sealing and suction of workpieces by depressurizing internal spaces, enhancing gripping force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the gripper interior is depressurized to grip the workpiece, then the gripping force increases, but the internal spaces may narrow and seal, reducing suction effectiveness
Solution Approach 1:
The internal space of the gripper is divided into multiple independent chambers (first internal space and second internal space) separated by a partition wall. This segmentation prevents the entire internal space from sealing when depressurized, allowing one chamber to maintain suction effectiveness while the other provides gripping force, thus resolving the contradiction between gripping force and suction effectiveness.
2Force
If granular material is provided in the gripper interior, then the gripping force is enhanced, but the space available for suction may be reduced
Solution Approach 1:
The gripper interior is segmented into a first internal space containing granular material for enhanced gripping force, and a second internal space for suction. The partition wall separates these two functions spatially, allowing both granular material and suction to coexist without compromising either function, thus resolving the contradiction between gripping force enhancement and suction space availability.
3Reliability
If the gripper is made flexible to conform to workpiece shape, then the gripping reliability improves, but the structural stability may be compromised
Solution Approach 1:
The gripper is designed with different local properties: the outer layer is flexible to conform to the workpiece shape and improve gripping reliability, while the internal structure includes rigid components (partition wall, support structures) to maintain structural stability. This local differentiation allows the gripper to simultaneously achieve flexibility for adaptation and rigidity for structural integrity, resolving the contradiction between gripping reliability and structural stability.
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 described configuration significantly increases the gripping force by preventing the narrowing and sealing of internal spaces, allowing for reliable gripping and transfer of workpieces.
Implementation Method 1
the workpiece is gripped by solidifying the interior of the gripper by depressurizing
Implementation Method 2
the suction force is generated by depressurizing
Data Source
AI summary
According to one embodiment, a gripping tool includes a gripper. The gripper is flexible and includes a first portion contacting a workpiece, a second portion opposing the first portion, and a granular material provided between the first portion and the second portion. The first portion includes a concave portion and a convex portion. The concave portion is recessed in a first direction. The first direction is from the first portion toward the second portion. The convex portion is provided around the concave portion and protrudes in a second direction. The second direction is the reverse of the first direction. The concave portion has a groove having a ring configuration recessed outward from a center of the gripper.