Multi-piston Vacuum Gripper for Adaptive Grasping
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Solution Overview
Problem
Conventional vacuum-gripper end effectors struggle to maintain sufficient contact and effectively manipulate items of varying sizes, shapes, stiffness, and orientations in material handling facilities, particularly when dealing with different velocity or acceleration profiles.
Innovation Solution
A vacuum-gripper assembly with a pliable and resilient body, equipped with linear actuators and a sealing membrane, that conforms to objects by applying vacuum pressure and can deform to engage items of diverse shapes, allowing for secure grasping and lifting, and returns to its rest position after disengagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional suction cups are used, then the structure is simple, but the ability to maintain sufficient contact for manipulation varies with item geometry and manipulation dynamics
Solution Approach 1:
The vacuum gripper assembly incorporates a resilient body that can dynamically deform and adapt its shape during manipulation operations. This dynamic capability allows the gripper to maintain reliable contact with items of varying geometries while accommodating different velocity and acceleration profiles during robotic manipulation
Solution Approach 2:
The system changes the physical state and properties of the vacuum gripper body by incorporating resilient materials that can alter their deformation characteristics based on operational conditions, allowing adaptation to different item geometries and manipulation dynamics while maintaining contact reliability
2Adaptability or versatility
If a pliable and resilient vacuum-gripper body is used, then adaptability to varying item geometries is improved, but device complexity increases
Solution Approach 1:
The vacuum gripper assembly employs a pliable and resilient body that functions as a flexible shell, allowing the gripper to conform to various item geometries without requiring complex internal mechanisms or multiple rigid components, thus achieving adaptability while managing device complexity
3Reliability
If multi-piston actuators are used, then grasping reliability is improved, but device complexity and cost increase
Solution Approach 1:
The actuator system is segmented into multiple independent piston assemblies, each capable of independent operation. This segmentation allows the system to achieve reliable grasping through distributed actuation while maintaining modularity that can simplify overall system design and maintenance
4Ease of operation
If the vacuum-gripper assembly is designed for easy installation and replacement, then ease of operation is improved, but manufacturing precision requirements may increase
Solution Approach 1:
The vacuum gripper assembly is pre-configured with mounting features and connection interfaces that are prepared in advance during manufacturing. This preliminary action enables quick installation and replacement operations while the precision requirements are met during the controlled manufacturing process rather than during field installation
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 vacuum-gripper assembly ensures reliable engagement and lifting of items with varying geometries, regardless of orientation, and can be easily installed and replaced, enhancing the efficiency of robotic manipulation in commercial warehouses and material handling facilities.
Implementation Method 1
A vacuum-gripper assembly with a pliable and resilient body, equipped with linear actuators and a sealing membrane, that conforms to objects by applying vacuum pressure
Data Source
AI summary
A vacuum-gripper end effector conforms to and grasps items upon application of vacuum force and/or actuation of one or more actuators. The vacuum-gripper assembly can be round in top view or can be rectangular. At least three linear actuators deform the vacuum-gripper assembly. Four linear actuators may be spaced equidistantly apart on a square or rectangular vacuum-gripper assembly to enhance functionality of the vacuum-gripper, such as being capable of simultaneously engaging three sides formed at a corner of a box. A one-way actuation type air cylinder may be used. A low friction air cylinder may be returned to its retracted position by the resilience of the vacuum-gripper assembly.