Pin End Effector Support Control for Irregular Workpieces

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Solution Overview

Problem

Existing end effectors struggle to efficiently support and manipulate variously shaped workpieces, particularly when sensors are difficult to attach to thin pins, leading to instability and inefficiency in processing operations.

Innovation Solution

An end effector design featuring a hole plate with movable pins and a force applying part that applies an inward force to outer pins, allowing them to inwardly move and support the workpiece, combined with a control system that determines the support state using a 3D sensor for accurate operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Volume of moving object

If pins are made thin to reduce size, then the end effector can manipulate smaller workpieces, but sensors become difficult to attach and stability decreases

Engineering Contradiction:

Improvepin sizeVSAvoidsupport stability

Core Design Contradiction:

Volume of moving objectVSReliability

Solution Approach 1:

The patent introduces a support hook as an intermediary component that works in conjunction with the thin pins. The pins make initial contact with the workpiece, and the support hook provides additional support from below, ensuring stable manipulation even with thin pins that cannot accommodate sensors

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The end effector divides the support function into multiple components: pins for initial contact and positioning, and support hooks for additional stabilization. This segmentation allows each component to be optimized for its specific function while working together to achieve reliable support

Inventive Principle:

Principle #1Segmentation

2Adaptability or versatility

If multiple pins are used to support variously shaped workpieces, then adaptability improves, but device complexity increases

Engineering Contradiction:

Improveworkpiece shape adaptabilityVSAvoidend effector structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The pins are designed to be movable rather than fixed, allowing them to adjust their positions dynamically to conform to various workpiece shapes. This dynamic adjustment capability provides adaptability without requiring a complex reconfigurable structure

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The pins automatically adjust their positions based on the workpiece geometry they encounter, eliminating the need for complex control mechanisms. The system self-adapts to different workpiece shapes through the natural movement and positioning of the pins

Inventive Principle:

Principle #25Self-service

3Shape

If pins are lowered by gravity to conform to workpiece shape, then tracing accuracy improves, but control precision decreases

Engineering Contradiction:

Improveworkpiece conforming accuracyVSAvoidtracing control precision

Core Design Contradiction:

ShapeVSMeasurement precision

Solution Approach 1:

The system incorporates sensors that detect the positions of the pins after they have conformed to the workpiece shape. This feedback information is used to determine the workpiece geometry and control the end effector's movements with precision, combining the benefits of gravity-based conforming with controlled precision

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS12533798B2End effector, end-effector set, and control system

Publication Date: 2026.01.27 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD

AI summary

An end effector includes a hole plate includes a plurality of holes, a plurality of pins that respectively penetrate the plurality of holes and are hung on the hole plate to be movable upward, and a force applying part that applies an inward force to an outer pin of the plurality of pins.