Pin Array Gripper for Rapid Robot Manipulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing end-of-arm tools (EoATs) in commercial product facilities limit robot speed due to inadequate engagement with objects and are limited in handling various types of objects based on material, mass, center of gravity, and external geometry, making them inefficient for rapid manipulation and tractive pull applications.
Innovation Solution
A gripping device with a robotic arm end coupler, a movable member, and a plurality of pins that actuate between retracted and extended positions to provide sturdy engagement with objects, allowing for rapid manipulation and tractive pull capabilities, even in narrow environments with varied object characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional end-of-arm tools are used to grip objects, then the robot can manipulate objects, but the robot speed is limited due to inadequate engagement with objects
Solution Approach 1:
The gripping device is segmented into multiple independent pins that can be actuated individually or in groups. Each pin provides a discrete engagement point with the object, allowing for distributed force application and improved overall engagement reliability while maintaining high-speed operation.
Solution Approach 2:
The pins are designed to be dynamically actuated between extended and retracted positions based on operational requirements. This dynamic configuration allows the system to optimize engagement strength when needed while maintaining speed when engagement is not required, resolving the contradiction between speed and engagement reliability.
2Adaptability or versatility
If conventional end-of-arm tools are used, then the robot can handle objects, but it is limited in handling various types of objects based on material, mass, center of gravity, and external geometry
Solution Approach 1:
The array of pins provides a universal gripping interface that can adapt to different object types including varied materials, masses, and geometries. By adjusting which pins are actuated and their extension distances, the same device can effectively handle diverse objects without requiring complex reconfiguration mechanisms.
Solution Approach 2:
The system changes operational parameters such as pin extension distance, actuation sequence, and force application points to adapt to different object characteristics. This parameter-based adaptation allows versatile handling of various objects while maintaining a relatively simple device structure.
3Strength
If pins are extended to penetrate object surface for secure grip, then gripping strength is improved, but the device may not be suitable for narrow environments
Solution Approach 1:
The pins can be dynamically extended to full length when strong gripping is needed in open spaces, and retracted to minimal extension when operating in narrow environments. This dynamic length adjustment allows the device to maintain high gripping strength when required while adapting to spatial constraints when present.
Data Source
AI summary
In some embodiments, devices and methods are provided herein useful to grip, hold, and/or manipulate the objects. In some embodiments, a gripping device may include a coupler configured to physically couple to a device moving member, a movable member having an object-facing surface, a actuator for actuating the movable member between a retracted position and an extended position, and a plurality of pins fixed on the object-facing surface of first movable member, each of the plurality of pins comprising an end configured to penetrate a surface of a gripped object when the movable member is in the extended position.