Modular Gripper System for Handling Robot Arms
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Solution Overview
Problem
Existing gripper systems for handling robots are inflexible and struggle to adapt to differently shaped or sized objects, leading to inefficient handling and potential deflections in objects like thin, heavy plates.
Innovation Solution
A modular gripper system with a connection module and interchangeable holding modules, featuring polygonal interfaces and mechanically/pneumatically actuated locking units, allowing for easy reconfiguration and secure gripping of various objects using vacuum suction cups or actuated elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional grippers with fixed gripping fingers or vacuum suction cups are used, then the gripper can hold simple or small objects, but it cannot adapt to differently shaped or sized objects
Solution Approach 1:
The gripper is divided into a connecting carrier and multiple interchangeable holding modules. Each holding module can be independently attached or detached, allowing the gripper system to be reconfigured for different object geometries without redesigning the entire structure.
Solution Approach 2:
The standardized polygonal interfaces (second interfaces on connecting carrier, third interfaces on holding modules, fourth interfaces for module-to-module connection) enable a universal connection system. The same holding modules can be used with different connecting carriers, and modules can be chained together in various configurations to handle diverse objects.
2Adaptability or versatility
If multiple holding modules are arranged to adapt to object geometry, then gripping flexibility improves, but the number of components and assembly complexity increases
Solution Approach 1:
The gripper system is segmented into standardized holding modules that can be independently configured. Each module has identical third interfaces that can connect to second interfaces on the connecting carrier or to third interfaces on other holding modules, enabling flexible assembly without increasing interface complexity.
Solution Approach 2:
The polygonal cross-section parameter (square or hexagonal) is standardized across all modules. This geometric parameter allows the modules to be arranged in various patterns (straight, circular, star-shaped) while maintaining simple, identical connection interfaces, thus achieving configuration flexibility without proportionally increasing complexity.
3Area of stationary object
If holding modules are connected in series to reach distant gripping points, then coverage area increases, but gaps between modules may reduce gripping precision
Solution Approach 1:
The gripping surface is segmented into multiple holding modules that can be arranged contiguously. The polygonal interfaces are designed so that modules connect face-to-face, eliminating gaps between adjacent gripping surfaces and maintaining precision across the entire coverage area.
Solution Approach 2:
The modules can be arranged in two-dimensional patterns (circular, star-shaped, or custom configurations) rather than just linear sequences. This allows the gripper to cover larger areas while keeping module connections tight and gap-free, as modules can be positioned adjacent to each other in multiple directions from a central point.
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
Enables flexible adaptation to diverse object geometries, prevents deflections in heavy plates, and ensures secure gripping by allowing for optimal arrangement of holding elements, improving handling efficiency and stability.
Implementation Method 1
gripping or holding elements designed as vacuum suction cups can be used to hold plate-shaped objects very easily and effectively
Data Source
Figure 1
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Figure 3a~3d
AI summary
The invention relates to a gripper system (10) for an arm (1) of a handling robot (100), comprising a connecting carrier (12) having a first interface (22) configured to be connected to the arm (1) of the handling robot (100), and several second interfaces (33) arranged on the connecting carrier (12) in the area of a connection module (25), each configured to be connected to a holding module (30), wherein each holding module (30) has a third interface (46) for interacting with a second interface (33) of the connection module (25) and at least two fourth interfaces (48) configured to be connected to a third interface (46) of a holding module (30), and wherein at least some of the holding modules (30), preferably all holding modules (30), have gripping or holding elements (35).