Multi-Finger Gripper with Segmented Vacuum Ports
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Solution Overview
Problem
Existing robot grippers, such as vacuum pick-up and jamming grippers, face limitations in picking up small, flexible, porous, or irregularly shaped objects due to weight constraints, surface area requirements, and the generation of electrostatic discharge, making them unsuitable for diverse robotic and automated processes.
Innovation Solution
A gripper design featuring multiple fingers with vacuum ports on both inner and outer surfaces, including a base and extendible cannula, allowing for independent vacuum control to grasp objects using a combination of friction and suction, enabling the pick-up of a wide range of objects from small to large and irregular shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If vacuum pick-up is used, then objects can be grasped without mechanical contact, but the method is limited by the amount of smooth area available on an object and the object's weight
Solution Approach 1:
The gripper is divided into multiple independent fingers, each capable of vacuum pickup. This segmentation allows the gripper to adapt to objects of various sizes and shapes by activating only the necessary fingers, thereby increasing versatility while maintaining the non-contact grasping advantage of vacuum pickup.
Solution Approach 2:
The invention adds vertical dimension with extendible cannulas that can protrude from the fingers. This dimensional addition allows vacuum ports to reach objects that are positioned at different heights or depths, expanding the range of graspable objects beyond what flat vacuum surfaces can achieve.
2Adaptability or versatility
If mechanical hand-like grippers are used, then they can grasp various objects, but they may be too large to pick-up small objects
Solution Approach 1:
By dividing the gripper into multiple slender fingers rather than one large mechanical hand, the invention achieves versatile grasping capability with reduced overall size. Each finger can be independently sized and shaped to match the object being grasped, enabling both small and large object manipulation.
Solution Approach 2:
The fingers incorporate flexible vacuum ports and can utilize flexible membranes or films to create vacuum seals. This flexibility allows the gripper to conform to small objects without requiring large rigid mechanical structures, thereby reducing size while maintaining grasping versatility.
3Adaptability or versatility
If jamming grippers are used, then they can grasp objects of various shapes, but they generate electrostatic discharge
Solution Approach 1:
The invention replaces the mechanical jamming mechanism with a vacuum-based system. Instead of using friction and mechanical interlocking that generate electrostatic discharge, the gripper uses atmospheric pressure differential created by vacuum ports to hold objects, thereby eliminating the harmful electrostatic effect while maintaining versatile grasping capability.
Solution Approach 2:
By using vacuum (pneumatics) to create the grasping force instead of mechanical jamming, the system achieves object manipulation of various shapes without the electrostatic discharge problem. The vacuum ports can be positioned on fingers and cannulas to create secure holds on diverse objects through pressure differential rather than mechanical friction.
4Adaptability or versatility
If vacuum ports are added to fingers and base, then suction capability is enhanced, but device complexity increases
Solution Approach 1:
The vacuum system is segmented into multiple independent ports distributed across different fingers and the base. This segmentation allows selective activation of vacuum ports based on object requirements, enhancing versatility. The modular structure of distributed ports makes the complexity manageable through systematic arrangement rather than a single complex vacuum system.
Solution Approach 2:
The vacuum ports are designed to serve multiple functions: they can be used individually or in combination, on different fingers or on the base, for different object types and sizes. This multi-functionality increases grasping versatility while the standardized port design keeps the overall structure relatively simple and manageable.
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 gripper effectively addresses the limitations of traditional grippers by enabling the pick-up of various objects, including small, flexible, and irregularly shaped items, with enhanced control over vacuum force and mechanical actuation, improving the versatility and reliability of robotic systems in automated processes.
Implementation Method 1
one or more ports located on the base or on at least one of the two or more fingers to provide suction through a vacuum
Data Source
AI summary
An example gripper may include: a base; two or more fingers attached to the base, with each finger being movable towards, and away from, one or more others of the fingers; and one or more ports at the base or at one or more of the fingers to provide suction through a vacuum.