Versatile Pneumatic End Effector With Dual Gripping Modes

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Solution Overview

Problem

Current robotic end effector systems require multiple tool head changes for different operations, leading to reduced throughput, increased complexity, limited flexibility in handling varying workpiece geometries, and extended cycle times.

Innovation Solution

A versatile pneumatic end effector integrating vacuum and mechanical gripping capabilities with height-adjustable fingertips, allowing seamless transitions between operational modes through servo motor control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple distinct end effector tool heads are used for different operations, then the ability to handle various workpiece types is improved, but the device complexity and cycle time increase due to required tool head changes

Engineering Contradiction:

Improveability to handle various workpiece typesVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines vacuum and mechanical gripping mechanisms into a single integrated end effector assembly. The vacuum gripper and two-finger mechanical gripper share a common base housing, motor, and control system, eliminating the need for separate tool heads while maintaining the ability to handle diverse workpiece types through mode switching

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The end effector is designed as a universal device that can perform both vacuum-based and mechanical gripping operations through a single unit. The system provides multi-functionality by allowing the robot to switch between different gripping modes (vacuum, mechanical, or combined) depending on the workpiece requirements, eliminating the need for multiple specialized tool heads

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If tool head changes are performed between operations, then different gripping modes can be used for different workpieces, but the productivity decreases due to extended cycle times and robot idle time

Engineering Contradiction:

Improvegripping mode flexibilityVSAvoidproductivity

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The integrated end effector enables continuous operation without interruption for tool head changes. The robot can switch between vacuum and mechanical gripping modes instantly while maintaining the same tool head position, eliminating idle time and keeping the production cycle continuous. The system transitions between modes seamlessly without requiring repositioning or tool changes

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The end effector incorporates dynamic mode switching capability where the robot can adapt between vacuum and mechanical gripping modes in real-time based on workpiece characteristics. The height-adjustable fingertips and controllable mechanical fingers provide dynamic adaptability, allowing the system to respond to different gripping requirements without physical reconfiguration

Inventive Principle:

Principle #15Dynamics

3Object-affected harmful factors

If vacuum grippers are used for picking operations, then handling of delicate workpieces is improved, but the ability to manipulate workpieces in multiple orientations is limited

Engineering Contradiction:

Improvedamage to delicate workpiecesVSAvoidworkpiece orientation capability

Core Design Contradiction:

Object-affected harmful factorsVSAdaptability or versatility

Solution Approach 1:

The system merges vacuum gripping with mechanical manipulation capabilities in a single end effector. The two-finger mechanical gripper with height-adjustable fingertips can physically rotate and reorient workpieces after vacuum pickup, enabling multi-orientation handling while maintaining delicate workpiece integrity through the gentle vacuum grip

Inventive Principle:

Principle #5Merging (Combining)

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

Enables simultaneous use of both gripping modes, reducing the need for tool head changes, enhancing object manipulation capabilities, and increasing the range of workpiece orientations and types that can be handled.

Implementation Method 1

an end effector base housing both a motor and vacuum pump, with a vacuum gripper mounted to the top face

Methodology Applied

Scientific EffectVacuum: Vacuum

Data Source

PatentUS20250332739A1Versatile pneumatic end effector

Publication Date: 2025.10.30 OHANESSIAN SHOUSHANA

AI summary

A versatile pneumatic end effector combines vacuum and mechanical gripping capabilities in a single integrated device. The end effector includes a base housing a motor and vacuum pump, with a vacuum gripper mounted to the top face and a two-finger gripper mechanism having height-adjustable fingertips. The fingertips are controlled by servo motors through pinion gears engaging gear racks to enable precise height adjustment between maximum height for mechanical gripping and minimum height for unobstructed vacuum operation. The two-finger mechanism comprises driving linkages connected to the motor, support linkages, and fingertip linkages containing the height adjustment system. The vacuum and mechanical gripping systems operate independently without interference, allowing seamless transitions between modes and simultaneous usage capabilities. The end effector eliminates the need for tool head changes while providing enhanced object manipulation through combined gripping modes. The system is adaptable for various robotic applications requiring efficient handling of diverse workpiece types and orientations.