Gripper Assembly Actuator Mechanism for Storage Containers
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Solution Overview
Problem
Existing robotic load-handling devices require a robust and reliable gripper assembly capable of repeatedly lifting and moving storage containers within a grid framework structure, ensuring secure engagement and efficient movement across tracks without compromising the structural integrity or increasing the size of the container recesses.
Innovation Solution
The gripper assembly features a pair of gripper arms with an actuator system, including a plunger and pins, that moves between open and closed configurations, and optionally includes a biasing mechanism and a housing to ensure secure engagement with storage containers, allowing for efficient lifting and movement across a grid framework structure supported by uprights and parallel rails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the gripper assembly uses a robust design with multiple components to ensure reliability, then the reliability improves, but the device complexity increases
Solution Approach 1:
The gripper assembly is divided into distinct functional components: gripper arms for engagement, an actuator for movement control, and a housing for structural support. This segmentation allows each component to be optimized independently while maintaining overall reliability without excessive complexity.
Solution Approach 2:
The gripper arms are designed with self-latching features that automatically secure the storage container when closed, eliminating the need for additional locking mechanisms. The actuator automatically returns the gripper arms to the open position when activated, reducing the need for complex control systems.
2Reliability
If the gripper arms are designed to fully enclose the container opening for secure engagement, then the engagement security improves, but the area of the container opening decreases
Solution Approach 1:
The gripper arms apply engagement force locally at specific contact points on the container opening rather than uniformly across the entire opening. This allows secure engagement while preserving the overall opening area for its intended function.
Solution Approach 2:
The gripper arms engage only the necessary portion of the container opening required for secure handling, rather than enclosing the entire opening. This partial engagement maintains sufficient security while preserving maximum opening area.
3Adaptability or versatility
If the gripper assembly is designed to accommodate various container sizes, then the adaptability improves, but the device complexity increases
Solution Approach 1:
The gripper arms are designed with movable joints and adjustable positioning capabilities that allow them to adapt to different container sizes dynamically. The actuator controls the range of motion to accommodate various dimensions without requiring multiple fixed-configuration grippers.
Solution Approach 2:
The gripper assembly is designed as a universal mechanism that can handle multiple container types and sizes using the same basic structure. The housing and actuator remain constant while the gripper arms adjust their configuration to accommodate different loading requirements.
Data Source
AI summary
The disclosure relates to a gripper assembly and in particular a gripper assembly for a load-handling device used to carry storage containers. In one embodiment, the gripper assembly includes a pair of gripper arms moveable between an open configuration, in which the gripper arms can engage with a storage container, and a closed configuration, in which the gripper arms are prevented from engaging the storage container. The gripper assembly includes an actuator having a plunger and two pins connected to the plunger, each pin is received within a respective track formed within each gripper arm. The plunger is configured to move in an opening stroke to move the pair of gripper arms into the open configuration and a closing stroke to move the pair of gripper arms into the closed configuration.