Pin Gripper End Effector for Deformation-Free Part Assembly
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Solution Overview
Problem
Conventional part assembly machines damage ductile parts during the pick and place process due to compression by finger grippers, leading to potential deformation and incorrect insertion.
Innovation Solution
A part assembly machine equipped with a robot arm and an end effector featuring a pin gripper that moves between retracted and extended positions to pick up and place parts without causing damage, utilizing a vision inspection station to determine optimal orientations and locations for efficient assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If finger grippers are used to pick up parts, then the parts can be grasped and held, but the compression force may damage ductile parts and cause deformation
Solution Approach 1:
The end effector is divided into multiple independent pin members instead of using a single finger gripper. Each pin member can independently engage with the part through a hole, distributing the holding force across multiple contact points and eliminating concentrated compression that causes deformation.
Solution Approach 2:
A support fixture is introduced as an intermediary element between the pin gripper and the part. The support fixture provides additional support points that distribute the part's weight and reduce the compression force required by the pin members, preventing damage to ductile parts.
2Productivity
If conventional finger grippers are used, then the assembly machine can operate, but the parts may be deformed leading to incorrect insertion
Solution Approach 1:
The end effector uses multiple pin members that engage with the part through its hole, providing precise positioning without deformation. This segmented approach maintains part geometry integrity, ensuring accurate insertion while enabling continuous automated operation.
Solution Approach 2:
The pin members are designed to engage with the part's hole before the part is placed into the final position. This preliminary engagement secures the part in the correct orientation and position, preventing misalignment and ensuring accurate insertion during the assembly process.
3Measurement precision
If a pin gripper with extended pin member is used to hold the part, then the part can be picked up precisely, but the mechanism requires movement between extended and retracted positions
Solution Approach 1:
The pin members serve multiple functions: they act as both the gripping element and the positioning element. By engaging through the part's hole, they simultaneously secure the part and define its precise location, eliminating the need for separate sensing and positioning mechanisms.
Solution Approach 2:
The part's own hole is utilized as the engagement feature for the pin members. The part's geometry itself provides the positioning reference, eliminating the need for complex external positioning mechanisms or sensors, thereby reducing overall system complexity while maintaining high precision.
Data Source
AI summary
A part manipulator includes a robot arm movable between a pick station and a place station. The part manipulator includes an end effector coupled to a distal end of the robot arm. The end effector includes a part support fixture and a pin gripper adjacent the part support fixture. The pin gripper includes a pin member and a pin actuator operated to move the pin member between a retracted position and an extended position. A distal end of the pin member extends from the part support fixture in the extended position to engage and hold a part against the part support fixture in the extended position. The pin member is configured to pick up the part in the extended position at the pick station. The pin actuator is configured to release the part at the place station when the pin member is moved to the retracted position.