Modular Gripper With Segmented Pneumatic Units
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Solution Overview
Problem
Existing grippers are limited in flexibility and versatility, often designed for specific tasks, making them unsuitable for a wide range of applications.
Innovation Solution
A modular gripping device with independently controllable gripping units, each equipped with a detachable gripping drive and active elements, allowing for asynchronous gripping and easy adaptation to different objects through adjustable kinematics and interchangeable components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gripper is designed with specialized configuration for specific gripping tasks, then gripping performance for that task is improved, but versatility and adaptability to other tasks deteriorate
Solution Approach 1:
The gripper is divided into multiple independent gripping units (first gripping unit, second gripping unit, etc.), each capable of independent operation. This segmentation allows different portions of the gripper to perform different functions simultaneously, enabling both specialized gripping actions and versatile adaptation to various object shapes and sizes.
Solution Approach 2:
The gripper base unit is designed with multiple attachment interfaces that can accommodate different types of gripping elements. The same base structure supports various configurations of gripping units, allowing the system to adapt to different gripping tasks without requiring complete redesign, thus achieving multi-functionality.
2Device complexity
If synchronous gripping is used to simplify control, then control complexity is reduced, but flexibility and sensitivity in mimicking human hand movements deteriorate
Solution Approach 1:
Each gripping unit has its own independent drive mechanism, allowing separate control of each unit. This independent controllability enables asynchronous gripping operations where different gripping units can move at different times and speeds, providing flexibility to mimic human hand movements while maintaining manageable control complexity through modular architecture.
3Device complexity
If gripping drives are integrated into the base unit, then structural compactness is improved, but ease of maintenance and replacement deteriorates
Solution Approach 1:
The gripping drive is separated from the base unit and integrated directly into the gripping element itself. This segmentation allows the gripping element with its drive to be removed and replaced as a single modular unit, significantly improving ease of maintenance and replacement while the overall structure remains compact due to the integrated drive-element combination.
4Reliability
If all fastening interfaces are fitted with gripping elements, then gripping capability is maximized, but adaptability and variable configuration deteriorates
Solution Approach 1:
The configuration of gripping elements on the base unit is made dynamic and variable rather than fixed. Different combinations of gripping elements can be attached to the multiple fastening interfaces depending on the specific task requirements. This dynamic reconfigurability allows the system to adapt to different objects and gripping scenarios while maintaining full gripping capability when needed.
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 and sensitive gripping of various objects, expanding the range of applications by mimicking human hand movements and allowing for easy maintenance and adaptation to different tasks without reassembly.
Implementation Method 1
The pneumatic gripping drive is expediently designed as a pneumatic working cylinder
Data Source
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AI summary
The equipment (11) has two gripping units (17a,17b) moved between a releasing position and a gripping position for seizing planar objects. The gripping units comprise pneumatic gripping drives (27a, 27b), over which the working movement between the gripping position and an open position is realized. The gripping units comprise a base unit (20), which comprises a fastening interface (21) for releasably fastening gripping elements (22a, 22b). The respective grab drive is arranged on a board the gripper elements.