Manipulator Gripper With Self-Locking Clamping Under Pressure Loss
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Solution Overview
Problem
Existing grippers for handling robots in machining industries face limitations in load capacity and safety due to high moment generation and limited clamping force, especially when air pressure is lost.
Innovation Solution
A gripper with a clamping mechanism activated by pneumatic or hydraulic driving, featuring a U-shaped clamping bracket with clamping jaws that amplify clamping force and provide a self-locking effect, ensuring secure clamping even at zero air pressure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single clamping spigot is used at half height of the interface element, then the gripper structure is simplified, but the clamping force required increases significantly due to limited moment compensation distance
Solution Approach 1:
The gripper is divided into multiple independent clamping units, each with its own clamping element. Instead of relying on a single spigot, multiple clamping points are distributed along the interface element, allowing each unit to contribute to moment compensation independently, thereby reducing the force requirement per unit while maintaining overall structural simplicity
Solution Approach 2:
The clamping elements are arranged at multiple heights along the interface element, utilizing the vertical dimension to increase the moment arm distance. This dimensional distribution allows for better moment compensation without increasing the horizontal complexity of the gripper structure
2Reliability
If the clamping force is increased to compensate for moment generation, then the load capacity and safety margin are improved, but the device complexity and required actuation force increase
Solution Approach 1:
The clamping mechanism is segmented into multiple independent units that work in parallel. Each unit provides a portion of the total clamping force, distributing the load and reducing the complexity of any single unit. This segmentation also improves reliability through redundancy, as the failure of one unit does not compromise the entire gripper
Solution Approach 2:
Multiple clamping units are merged into a single integrated gripper assembly that operates as one coordinated system. The units share common mounting structures and control systems, achieving high reliability and safety margins without proportionally increasing overall device complexity
3Ease of manufacture
If the interface element is mounted sideward on the pallet, then the mounting position is simplified, but the center of mass distance increases generating higher moments that require greater clamping force
Solution Approach 1:
The clamping elements are positioned at multiple vertical levels on the interface element, utilizing the height dimension to increase the moment arm. This allows the sideward mounting configuration to be maintained for ease of manufacture, while the vertical distribution of clamping points compensates for the increased moment generated by the offset center of mass
Solution Approach 2:
The clamping function is segmented across multiple elements positioned at different locations on the interface element. This segmentation allows the total clamping force to be distributed, reducing the force requirement at each individual point while maintaining the simplified sideward mounting configuration
Data Source
AI summary
A gripper for a handling assembly grasps an object. The gripper includes: a coupler for mounting to the object; and a base body mountable to the handling assembly. The base body includes: a housing; a clamping bracket at an outside of the housing; and a clamping mechanism in the housing, connected to the clamping bracket. The clamping bracket has latched and unlatched states. In the latched state, the clamping bracket is drawn close to the housing. In the unlatched state, the clamping bracket is pushed away from the housing to receive the coupler between the clamping bracket and the housing. The clamping mechanism is activated by pneumatic/hydraulic driving to force the clamping bracket to change from the latched to the unlatched state, and deactivated such that the clamping bracket returns to the latched state, thereby clamping the coupler to the housing.