Planetary Gear Gripper for Variable Container Sizes and Grip Force

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Solution Overview

Problem

Existing robotic grippers fail to consistently and safely handle containers of varying sizes and surfaces, often applying inappropriate force, leading to breakage or inadequate gripping, and lack feedback mechanisms to confirm proper container selection.

Innovation Solution

A gripper apparatus with a planetary gear system that adjusts pin spacing to accommodate different container sizes and applies controlled force through a servo motor and feedback mechanism, allowing for secure gripping of containers with varying diameters and surfaces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If adjustable pneumatic fingers are used to accommodate different container sizes, then the gripper can handle varied container diameters, but the gripping force varies and causes breakage or insufficient gripping

Engineering Contradiction:

Improvecontainer size accommodationVSAvoidgripping consistency

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent employs a planetary gear system that transforms rotational motion into controlled radial movement of gripping pins. The gear ratio and mechanical advantage provide precise control over pin position and gripping force, maintaining consistent force application across different container sizes while accommodating varied diameters through adjustable pin spacing.

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If a rotating turret with multiple openings is used to handle different container sizes, then various container sizes can be accommodated, but the device complexity increases

Engineering Contradiction:

Improvecontainer size handlingVSAvoidgripper structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The gripping mechanism is divided into multiple independent pins, each capable of radial adjustment through the planetary gear system. This segmentation allows each pin to independently adapt to different container sizes and surfaces, providing versatility without requiring a complex rotating turret with multiple pre-configured gripper openings.

Inventive Principle:

Principle #1Segmentation

3Manufacturing precision

If frequent changing of gripping mechanism is performed to fit particular container sizes, then accurate gripping can be achieved, but the loss of time increases

Engineering Contradiction:

Improvegripping accuracyVSAvoidmechanism changing time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The planetary gear system enables dynamic adjustment of pin positions and gripping forces during operation. The mechanism can continuously adapt to different container sizes and surfaces without requiring stopping or changing components, maintaining gripping accuracy while eliminating the time loss associated with frequent mechanism changes.

Inventive Principle:

Principle #15Dynamics

4Ease of operation

If pneumatic grippers are used for container handling, then simple operation is achieved, but feedback capability is insufficient to confirm proper container selection

Engineering Contradiction:

Improvegripper controlVSAvoidcontainer pickup confirmation

Core Design Contradiction:

Ease of operationVSLoss of information

Solution Approach 1:

The planetary gear system provides inherent mechanical feedback through the engagement of gear teeth and the radial movement of pins. The system can detect and respond to variations in container size, surface characteristics, and pickup status through the mechanical interaction between the gripping pins and container, providing information feedback while maintaining simple operation.

Inventive Principle:

Principle #23Feedback

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 handles containers of various sizes and types by adjusting pin spacing and applying precise force, preventing breakage and ensuring secure grasping, while providing feedback for accurate container recognition.

Implementation Method 1

A gripper apparatus with a planetary gear system that adjusts pin spacing to accommodate different container sizes

Methodology Applied

Scientific EffectPlanetary gear mechanism: Epicyclic Gearing

Implementation Method 2

The rotation of the planet gears causes the pins to move along a radial path relative to the center pivot of the gear plate, thus varying the distance between the pins

Methodology Applied

Scientific EffectMechanical advantage: Mechanical Advantage

Implementation Method 3

applies controlled force through a servo motor and feedback mechanism, allowing for secure gripping of containers with varying diameters and surfaces

Methodology Applied

Scientific EffectFeedback control: Feedback

Data Source

PatentEP2490866B1Gripper apparatus and method for containers of different sizes

Publication Date: 2021.08.25 NEXUS BIOSYSTEMS INC

Figure 1A
Figure 1B
Figure 2A~2B

AI summary

A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping pin extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the pins inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.