Robot End Effector Suction Cup Assembly for Flexible Vacuum Grasping
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Solution Overview
Problem
Existing storage and retrieval systems for online retail businesses require efficient storage solutions for a wide range of products, including perishables and infrequently ordered goods, while minimizing space usage and maintaining economical access.
Innovation Solution
A robot end effector with a suction cup assembly, featuring an extendable stem, pivotable suction cup, and integrated vacuum manifold, which allows for flexible grasping and orientation of items, reducing vacuum losses and protecting the system from contaminants.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot end effector with a fixed suction cup is used, then the structure is simple, but the ability to grasp items at different orientations and positions is limited
Solution Approach 1:
The suction cup assembly is made dynamically adjustable through a pivot mechanism that allows the suction cup to rotate and orient itself at different angles. This enables the end effector to grasp items at various orientations and positions, significantly improving grasping flexibility while maintaining a relatively simple overall structure.
Solution Approach 2:
The end effector is divided into separate functional segments: a fixed mounting interface, a pivotable connection joint, and the suction cup component. This segmentation allows the suction cup to independently adjust its orientation while the mounting interface remains fixed, resolving the contradiction between structural simplicity and grasping versatility.
2Reliability
If the suction cup assembly is made robust and sealed, then vacuum retention is improved, but the system becomes more susceptible to vacuum losses from misalignment
Solution Approach 1:
The pivotable suction cup assembly dynamically adjusts its orientation to maintain optimal alignment with the target item surface. This ensures that the suction cup's sealing surface remains properly positioned, preventing vacuum losses that would occur with misalignment while maintaining robust vacuum retention when correctly positioned.
Solution Approach 2:
The system incorporates sensors that detect the orientation and position of the target item, providing feedback to the control system. This feedback enables real-time adjustment of the suction cup's angle and position, ensuring continuous optimal alignment and preventing vacuum losses while maintaining reliable vacuum retention.
3Force
If multiple suction cups are used to increase grasping capability, then the grasping force is improved, but the risk of contaminant spread increases
Solution Approach 1:
The end effector incorporates multiple independently controllable suction cups that can be selectively activated. This segmentation allows the system to use only the necessary number of suction cups for each specific task, providing sufficient grasping force while minimizing the risk of contaminant spread by limiting the number of contact points with potentially contaminated surfaces.
Solution Approach 2:
Each suction cup can be independently controlled and positioned, allowing the system to concentrate grasping force at specific locations on the target item. This local quality approach enables effective grasping with fewer suction cups, reducing the overall risk of contaminant spread while maintaining adequate grasping force for the task.
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 solution enables efficient storage and retrieval of diverse products by minimizing space requirements and maintaining reliable access, while reducing vacuum losses and protecting the system from environmental contaminants.
Implementation Method 1
The robot end effector comprises a suction cup assembly fluidically connectable to a vacuum source to supply vacuum pressure to the suction cup assembly when the end effector is used to releasably engage an item
Implementation Method 2
The stem is movable to extend and retract... The vacuum manifold is mounted to the stem so as to be movable therewith... The manifold is configured to supply vacuum pressure to the suction cup assembly, via the stem
Data Source
AI summary
A suction cup assembly for a robot end effector, the suction cup assembly comprising a first suction cup, a second suction cup, and a valve assembly. The valve assembly comprises an inlet and first and second flow channels in respective fluid communication with the first and second suction cups. The first and second flow channels are movable to activate the first or second suction cup, in dependence on alignment of the inlet with the respective first or second flow channel, when vacuum pressure is supplied to the inlet in use.