Robotic Gripper With Friction Rolls for Thin Layer Separation
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Solution Overview
Problem
Existing grippers fail to effectively separate and grip thin layers of deformable material stacked on a surface, such as separating layers from a stack or opening bags made of such materials, without focusing on the separation of layers from edges.
Innovation Solution
A robotic gripper with a foot attached to a robot, featuring two arms with rolls and fingers, where one arm has a shaft with rotating rolls and the other arm has fingers with spring-activated tips for gripping and dragging layers, allowing for the separation and grip of thin layers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If existing grippers are used to grab clothes stacked on a table, then the clothes can be moved away from the stack, but the layers cannot be effectively separated
Solution Approach 1:
The gripper is divided into two distinct arms with different functions: the first arm with rolls for dragging and separating layers, and the second arm with fingers for gripping and holding layers. This segmentation allows each component to specialize in a specific separation task, effectively solving the problem of layer separation that existing single-function grippers cannot achieve.
Solution Approach 2:
The rolls covered with high-friction material serve as an intermediary between the gripper and the layers. These rolls drag the top layer across the surface, using friction as a mediating force to separate the layer from the stack without requiring direct finger contact, thus enabling effective layer manipulation.
2Productivity
If high-friction rolls are used to drag layers, then dragging capability is improved, but the structure becomes more complex
Solution Approach 1:
The function of dragging and separating layers is merged into the rolls, which are integrated into the first arm of the gripper. The rolls combine the dragging function with the separation function in a single component, improving productivity without proportionally increasing overall device complexity.
Solution Approach 2:
Only specific portions of the gripper (the rolls and finger tips) are covered with high-friction material, rather than the entire gripper structure. This local application of friction-enhancing material provides the necessary dragging capability while minimizing the increase in device complexity.
3Reliability
If spring-activated tips are used for gripping, then grip security is improved, but the device complexity increases
Solution Approach 1:
The spring mechanism in the finger tips provides automatic compression and release functionality. When the finger contacts a layer, the spring compresses to provide gripping force, and when contact is released, the spring automatically returns the tip to its original position. This self-service mechanism improves grip security without requiring external actuation systems, thus limiting the increase in device complexity.
4Adaptability or versatility
If two arms with different functions are used, then layer separation and gripping capabilities are improved, but the device complexity increases
Solution Approach 1:
Each arm of the gripper is designed with multi-functionality: the first arm with rolls can both drag layers for separation and provide support during gripping, while the second arm with fingers can both grip layers and work in coordination with the rolls. This universality allows the two-arm structure to achieve versatile layer manipulation capabilities while keeping each component relatively simple.
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
Effectively separates and grips thin layers from a stack or opens bags by applying pressure and dragging them away using high-friction rolls and spring-activated tips, ensuring secure handling and efficient manipulation of deformable materials.
Implementation Method 1
a spring, located within the housing that provides longitudinal movement to the tip
Implementation Method 2
The protuberances are made up of rubber or a similar material and provide the main roll with a high friction texture surface to ensure a good dragging in contact with the layers
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
The invention refers to a gripper for the separation of layers of a deformable material, the layers being stacked on a surface, comprising a foot (10) configured to be fastened to a robot, two arms for the grabbing of the layers and a motor (20) for the movement of the arms, wherein a first arm comprises a shaft (3) where a plurality of rolls (1, 2) is located, and a second arm comprises at least one finger (4) which further comprises a tip (6) with a longitudinal configuration, a housing (5), where one end of the tip (6) is fixed, and a spring (14), located within the housing (5) that provides longitudinal movement to the tip (6), wherein, one of the rolls (1, 2) comprises protuberances (13) on the surface to provide a friction surface, and the second arm is configured to move towards the first arm.