Flexible Sheet End Effector for Irregular Surface Gripping
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Solution Overview
Problem
Conventional suction grippers face challenges in handling objects with irregular surfaces due to high costs, installation difficulties, and poor conformity, particularly in recycling and consumer waste handling environments.
Innovation Solution
A flexible sheet end effector apparatus with a suction tube, mounting flange, clamping ring, and biasing spring, utilizing an elastomeric flexible sheet that conforms to the shape of the object and includes projections to reduce blockage, allowing easy replacement and improved grip on irregular surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional suction cup is used as the end effector, then the structure is simple, but it cannot conform to irregular surfaces of articles to be picked up
Solution Approach 1:
The patent employs a flexible sheet made of elastomeric material as the end effector instead of a rigid suction cup. This flexible sheet can deform and conform to irregular surfaces of articles to be picked up, solving the adaptability problem while maintaining structural simplicity. The flexibility allows the sheet to wrap around objects with varying shapes and surfaces.
Solution Approach 2:
The flexible sheet is designed to be dynamically adaptable rather than statically fixed. It can change its shape and configuration based on the object it contacts, allowing real-time conformity to irregular surfaces. This dynamic behavior enables the end effector to adjust to different article geometries without requiring complex mechanical structures.
2Ease of repair
If a conventional suction cup is used, then the installation is straightforward, but replacement and maintenance are difficult
Solution Approach 1:
The end effector is designed as a separable component with a mounting flange that allows the flexible sheet to be independently replaced. The sheet can be detached from the mounting structure and replaced without affecting other components, facilitating easy maintenance and repair while keeping the overall mounting structure relatively simple.
Solution Approach 2:
The flexible sheet is designed to nest over the mounting flange structure, allowing for easy installation and removal. The sheet can be slipped onto the flange in a nested configuration, enabling quick replacement without complex assembly procedures while maintaining a compact integrated appearance during operation.
3Reliability
If the flexible sheet is made to conform perfectly to irregular surfaces, then the grip is improved, but the cost increases
Solution Approach 1:
The flexible sheet is designed as an inexpensive, easily replaceable component made from cost-effective elastomeric materials. Rather than using expensive, highly specialized materials for perfect conformity, the design accepts that the sheet can be a simpler, cheaper component that provides sufficient grip reliability and can be replaced when worn or damaged.
Solution Approach 2:
The patent achieves adequate conformity through simple parameter changes in the flexible sheet design, such as thickness and material properties, rather than complex geometric adaptations. By adjusting these parameters, the sheet provides sufficient grip on irregular surfaces without requiring expensive custom manufacturing or highly complex structures.
4Productivity
If the suction tube opening is large for better object access, then more objects can be grasped, but blockage by the object becomes more likely
Solution Approach 1:
The patent employs a flexible sheet that can curve and wrap around objects, allowing the suction tube to maintain a relatively large opening for good object access while the flexible sheet adapts to prevent blockage. The curvature and flexibility of the sheet enable it to conform to objects without completely obstructing the suction opening.
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 flexible sheet end effector provides effective grasping of objects with irregular surfaces, reducing blockage and enhancing grip while being cost-effective and easy to install, thus improving the efficiency of waste sorting operations.
Implementation Method 1
a suction tube (220) with an open lower end (224)
Implementation Method 2
a biasing spring (228) configured to bias the clamping ring (240) downward toward the mounting flange (232)
Data Source
AI summary
A robotic end effector apparatus and method of replacing a first flexible gripper sheet of a robotic end effector apparatus for grasping an article using a suction effect is disclosed herein. The robotic end effector may include a suction tube having an open lower end, a mounting flange fixed to the suction tube adjacent the open lower end, a clamping ring slidable received around the suction tube above the mounting flange, a biasing spring biasing the clamping ring downward toward the mounting flange, and a flexible sheet having a center opening smaller than the mounting flange in a relaxed state of the flexible sheet, the flexible sheet being stretchable so that the flexible sheet can be pulled upward over the mounting flange. The flexible sheet may be clamped between the clamping ring and the mounting flange with the flexible sheet extending radially outward beyond the mounting flange.