Retractable Suction End Effector for Mixed-Shape Item Handling
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Solution Overview
Problem
Material handling systems face challenges in efficiently handling items of different body shapes without disrupting ongoing operations, requiring multiple robotic tools and occupying extra space, which affects productivity and throughput.
Innovation Solution
An item manipulation system with a control system and an end effector featuring a flexible suction cup and a linear actuator, allowing the suction cup to move within or outside a tube to adapt to different body shapes, and an array of grasping tools for selective engagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple robotic tools are used to handle items of different body shapes, then the system can accommodate various item shapes, but the device complexity and space occupation increase
Solution Approach 1:
The end effector is designed with a universal structure that can handle multiple types of items (rigid boxes, flexible bags, irregular packages) using a single device. The array of grasping tools includes vacuum suction cups, mechanical fingers, and adaptive grippers that can be selectively activated based on item characteristics, eliminating the need for multiple specialized robotic tools
Solution Approach 2:
The end effector incorporates dynamically adjustable components including extendable and retractable grasping tools,可变 vacuum suction cup arrays, and adaptive mechanical fingers. These components can be reconfigured in real-time based on item shape, size, and rigidity detected by sensors, allowing a single tool to adapt to various item types without physical replacement
2Adaptability or versatility
If multiple robotic tools are deployed to handle different item shapes, then item manipulation capability improves, but the footprint and space requirements increase
Solution Approach 1:
The end effector employs a nested configuration where multiple grasping tools are arranged concentrically around a central axis. Vacuum suction cups are positioned on the outer circumference, mechanical fingers are nested within the suction cup array, and adaptive grippers are positioned at the core. This nested arrangement minimizes the radial footprint while maintaining full functionality of all tool types
Solution Approach 2:
The grasping tools are arranged in a three-dimensional configuration around the central grip axis, utilizing radial, axial, and angular dimensions. This spatial arrangement allows multiple tool types to occupy different spatial zones without increasing the overall footprint, effectively packing multiple functions into a compact cylindrical volume
3Adaptability or versatility
If multiple robotic tools are used for different item shapes, then handling versatility improves, but productivity and throughput are disrupted
Solution Approach 1:
Sensors and vision systems detect item characteristics (shape, size, rigidity, surface texture) before the item reaches the end effector. The control system pre-configures the appropriate grasping tools and activates them in advance, eliminating setup time and ensuring seamless transitions between different item types without disrupting workflow
Solution Approach 2:
The end effector maintains continuous operation by having multiple grasping tools available simultaneously, allowing immediate response to different item types without stopping or reconfiguring. The array of tools enables uninterrupted handling of mixed-item streams, maintaining constant throughput while adapting to varying item characteristics
4Device complexity
If a single end effector with array of grasping tools is used, then device complexity reduces, but the capability to engage different body shapes increases
Solution Approach 1:
The end effector divides the grasping function into multiple specialized segments: vacuum suction cups for smooth surfaces, mechanical fingers for rigid edges, and adaptive grippers for irregular shapes. Each segment is optimized for specific item types but all are integrated into a single coordinated system controlled by a centralized actuation mechanism
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 efficient handling of items with varying shapes using a single end effector, reducing the need for multiple tools, minimizing footprint, and maintaining operational continuity.
Implementation Method 1
The flexible suction cup can be configured to engage a surface of the item based on vacuum suction force generated through the flexible suction cup
Data Source
AI summary
Various example embodiments described herein relates, to an item manipulation system that can include a control system and an end effector. The end effector can include a tube defining a channel between a first end and a second end. The tube can include, a flexible suction cup that can be disposed within the channel of the tube. In some examples, the flexible suction cup can engage a surface of the item based on suction force generated through the flexible suction cup. The end effector also includes a linear actuator that can be mechanically coupled to the flexible suction cup. The end effector can be configured to: extend, the flexible suction cup towards the second end of the channel to position at least a portion of the flexible suction cup outside the tube and retract, the flexible suction cup within the channel to position the flexible suction cup within the tube.