Modular Robotic Gripper Segmentation for Vacuum System Maintenance
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Solution Overview
Problem
Existing robotic grippers with vacuum systems are highly integrated, making it cumbersome to service and change configurations, such as arrays of vacuum cups, which can differ in position, size, shape, and material.
Innovation Solution
A modular approach is adopted for the robotic gripper, segregating structural elements into separate modules that can be easily replaced or repaired independently. This includes a first modular component with deformable members and a second modular component with vacuum valves, allowing for different arrangements of deformable members without affecting the valves or overall structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robotic grippers use highly integrated vacuum systems, then the gripper structure is compact and functional, but servicing and creating varying gripper configurations become cumbersome
Solution Approach 1:
The vacuum gripper system is divided into separate modular components: a first module containing deformable members (vacuum cups) and a second module containing vacuum valves. This segmentation allows independent replacement and servicing of each module without affecting the other, directly resolving the contradiction between integrated functionality and ease of repair.
2Device complexity
If robotic grippers use highly integrated vacuum systems, then the gripper structure is compact and functional, but creating varying gripper configurations becomes cumbersome
Solution Approach 1:
By separating the deformable members into an independent first module, the gripper configuration can be easily changed by replacing this module with different arrangements of vacuum cups suited to various objects, while the vacuum valve system remains unchanged.
Solution Approach 2:
The vacuum valve module serves as a universal component that can work with multiple different configurations of deformable members. The standardized interface allows the same valve module to support various gripper configurations, enabling one component to serve multiple functions.
3Device complexity
If vacuum valves are co-located with deformable members, then the system is simpler in design, but failures are not isolated and downtime increases
Solution Approach 1:
The system is segmented into spatially separated modules where the vacuum valves are contained in a second module distinct from the first module containing deformable members. This physical separation isolates failures to specific modules, allowing targeted replacement and minimizing overall system downtime.
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
The modular design facilitates easier maintenance, allows for various configurations of deformable members to suit different objects, and isolates failures to specific modules, minimizing downtime and compartmentalizing risk.
Implementation Method 1
A vacuum system (e.g., on board the robot) may then be activated to use suction to adhere the object to the gripper
Implementation Method 2
measuring vacuum pressure in the plenum and/or in each vacuum cup so that vacuum cups that do not have a good seal against the object being lifted can be selectively turned off
Data Source
AI summary
A robotic gripper includes a first modular component comprising a set of deformable members, such as a set of vacuum cups or foam members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members.