Multi-Axis Robotic Gripper for Precise Packing Placement

Solution Overview

Problem

Robotic systems lack the sophistication to execute complex tasks, particularly in packing operations, due to limitations in their gripping mechanisms and interaction capabilities.

Innovation Solution

A robotic system with a hybrid gripping mechanism featuring a frame with orthogonal axes, an actuator system, and multiple clamping components that can engage and support objects from various sides, allowing for precise placement and transportation of objects, along with a sensor system for environmental measurement and retractable arms for additional gripping capabilities.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a traditional single-axis gripping mechanism is used, then the device complexity is low, but the adaptability for handling objects from various sides is limited

Engineering Contradiction:

Improvegripping capability from various sidesVSAvoidgripping mechanism structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The gripping mechanism is divided into multiple independent clamping components (first, second, and third clamping components) that can operate independently. Each clamping component is positioned along different axes and can engage objects from different directions, allowing the system to handle diverse object shapes and sizes without requiring a completely redesigned gripper for each task.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system transitions from a traditional single-axis gripping approach to a multi-axis configuration. The first clamping component extends along a first axis, the second clamping component extends along a second axis orthogonal to the first, and the third clamping component extends along a third axis orthogonal to both. This three-dimensional arrangement enables the robot to grasp objects from multiple directions simultaneously, significantly enhancing adaptability.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Manufacturing precision

If multiple clamping components are added to improve packing precision, then the manufacturing precision improves, but the device complexity increases

Engineering Contradiction:

Improveobject placement precisionVSAvoidgripping mechanism structure

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The gripping mechanism is divided into multiple independent clamping components (first, second, and third clamping components) that can operate independently. Each clamping component is positioned along different axes and can engage objects from different directions, allowing the system to handle diverse object shapes and sizes without requiring a completely redesigned gripper for each task.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system transitions from a traditional single-axis gripping approach to a multi-axis configuration. The first clamping component extends along a first axis, the second clamping component extends along a second axis orthogonal to the first, and the third clamping component extends along a third axis orthogonal to both. This three-dimensional arrangement enables the robot to grasp objects from multiple directions simultaneously, significantly enhancing adaptability.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of operation

If independent actuation of clamping components is implemented, then the ease of operation for complex packing tasks improves, but the device complexity increases

Engineering Contradiction:

Improvepacking operation controlVSAvoidactuator system

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The actuator system is designed to dynamically control each clamping component independently along its respective axis. The first actuator controls the first clamping component along the first axis, the second actuator controls the second clamping component along the second axis, and the third actuator controls the third clamping component along the third axis. This dynamic, independent control allows the system to adapt its gripping strategy in real-time based on object characteristics and packing requirements, significantly improving ease of operation for complex tasks.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20230321846A1Robotic systems with object handling mechanism and associated systems and methods

Publication Date: 2023.10.12 MUJIN INC

AI summary

Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a frame and an actuator system coupled to the frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component each coupled to the frame. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and/or third clamping components to move the first, second, and/or third clamping components along a transverse axis of the end-of-arm tool.