Force-Feedback Gripper for Compact Container Retrieval
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Solution Overview
Problem
Automated dispensing systems often require substantial space and are costly due to their large footprint, especially when handling various types of products, which can lead to inefficiencies and increased costs, particularly when the frequency of dispensing operations is low or the risk of errors is minimal.
Innovation Solution
A compact automated retrieval and dispensing system featuring a grasping head with movable grasping members and a linear actuator that can adjust to securely grasp containers of different sizes, utilizing force feedback to ensure proper engagement and prevent damage, allowing for flexible installation and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated dispensing systems are implemented to improve efficiency and accuracy, then dispensing operations become more efficient and accurate, but the system occupies substantial footprint and increases cost
Solution Approach 1:
The automated dispensing system is divided into modular components including a robotic arm, grasping head with interchangeable grippers, and storage racks. This segmentation allows the system to be configured in a compact arrangement while maintaining automated dispensing functionality, reducing the overall footprint compared to conventional monolithic automated dispensing systems.
Solution Approach 2:
The system utilizes vertical space through multi-level storage racks and positions the robotic arm to operate in three-dimensional space. By transitioning from a horizontal layout to a vertical configuration, the system achieves automated dispensing capability in a reduced floor space, effectively addressing the footprint constraint.
2Adaptability or versatility
If grasping members are designed to accommodate different container sizes, then the system becomes more versatile, but the structure becomes more complex
Solution Approach 1:
The grasping head is designed with interchangeable grippers that can be swapped to accommodate different container sizes and types. Instead of designing a single complex adjustable gripper, the system uses multiple specialized grippers, each optimized for specific container types. This approach achieves versatility while maintaining structural simplicity, as each gripper is a straightforward mechanical component rather than a complex adjustable mechanism.
Solution Approach 2:
The grasping members incorporate movable fingers actuated by linear actuators that can adjust the opening width dynamically. This dynamic adjustment capability allows a single gripper design to accommodate a range of container sizes without requiring multiple fixed-size grippers, balancing versatility with structural simplicity through controlled motion rather than mechanical complexity.
3Reliability
If force feedback is implemented to prevent container damage, then container integrity is maintained, but the control system becomes more complex
Solution Approach 1:
Force sensors are integrated into the grasping members to provide real-time feedback on the contact force between the gripper fingers and the container. The controller monitors this force feedback and dynamically adjusts the actuator commands to maintain force within safe limits, preventing container damage. This feedback mechanism achieves high reliability in container handling while keeping the control logic relatively simple through direct force monitoring and proportional control.
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 system enhances efficiency and accuracy in dispensing operations while minimizing space requirements and costs by enabling secure handling of diverse container sizes and configurations, improving the overall efficiency and flexibility of automated retrieval and dispensing processes.
Implementation Method 1
A linear actuator may be connected between the first and second grasping members, and may move the first and second grasping members relative to one another between an open position and a closed position.
Implementation Method 2
Force feedback may be received at the controller from the at least one of the first and second grasping members, where in response to the at least one of the first and second grasping members moving from the open position to the closed, engaged position, the at least one of the first and second grasping members is stopped in response to receiving a force satisfying a predetermined value.
Data Source
AI summary
A method and apparatus for dispensing and retrieving products is provided. A system may include: a grasping head; first and second grasping members, each grasping member comprising: a top member; a post member; and first and second grasping fingers, where the first and second grasping fingers extend from the post member and are spaced apart from the top member by a predetermined distance, where the first and second grasping members are connected to the grasping head, where at least one of the first and second grasping members is movably connected to the grasping head, where the at least one of the first and second grasping members is movable relative to the other of the first and second grasping members.