Robotic Arm Pin Gripper for Irregular Items in Tight Spaces
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Solution Overview
Problem
Current robotic arm grabbing devices face challenges in accurately and reliably selecting and placing items, especially in messy piles or tight spaces, and struggle with oddly shaped items due to reliance on sophisticated spatial analysis and limited grasping force.
Innovation Solution
A device with multiple flexible pins that exert physical force to grab items, using a combination of pressure and suction, and employing a 3D field measurement and database information for precise item location and grasping, allowing for varied pin configurations and movements to adapt to different shapes and sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional pincer designs are used, then the device can grasp conventional shapes, but it struggles with oddly shaped items and messy piles due to limited adaptability
Solution Approach 1:
The grabbing device is segmented into multiple independent pins that can individually contact and grasp different parts of an item. This segmentation allows the device to adapt to various shapes without requiring complex spatial analysis, as each pin independently responds to contact forces.
Solution Approach 2:
The pins are designed with variable parameters including flexibility, length, and orientation angles. These parameter changes enable the pins to adapt to different item geometries and configurations, providing versatility without increasing overall device complexity.
2Adaptability or versatility
If suction grabbers are used, then the device can grasp smooth items, but it cannot grasp items with rough or irregular surfaces due to surface requirements
Solution Approach 1:
The grabbing surface is segmented into multiple discrete pins rather than a continuous suction cup. This allows individual pins to make contact with various surface types, providing mechanical grasping capability that works on both smooth and rough surfaces without requiring sophisticated spatial analysis.
Solution Approach 2:
The patent replaces the suction-based mechanical system with a pin-based mechanical contact system. This substitution eliminates the surface smoothness requirement while maintaining grasping capability through direct mechanical contact and force application.
3Adaptability or versatility
If octopus grabbers are used, then the device can flexibly modify its shape, but the total grabbing force is limited and it struggles to reach tight spaces
Solution Approach 1:
The grabbing device uses multiple independent pins instead of a single flexible membrane. This segmentation allows each pin to contribute independently to the total grasping force, enabling the device to reach tight spaces and provide sufficient force without requiring complex shape modification mechanisms.
Solution Approach 2:
The pins are pre-configured in an array with various orientations and lengths to anticipate different item configurations. This preliminary arrangement allows the device to effectively grasp items in tight spaces without requiring real-time shape modification during the grasping action.
4Adaptability or versatility
If more pins are added to increase contact surface area, then the device can grasp more item shapes, but the device complexity and manufacturing cost increase
Solution Approach 1:
The pins are designed as universal components that can function in multiple configurations and orientations. This universality allows a moderate number of pins to effectively grasp a wide variety of item shapes without requiring a large number of specialized components, thereby controlling device complexity while maintaining versatility.
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 device achieves high accuracy and reliability in grabbing items of various shapes and sizes, even in tight spaces, with minimal need for advanced sensors, offering quick and efficient operation and increased surface area contact, thus overcoming the limitations of existing designs.
Implementation Method 1
The physical force can be pressure, suction, or combinations thereof
Implementation Method 2
The physical force can be pressure, suction, or combinations thereof
Implementation Method 3
the device is configured to locate the item by measuring a depth of at least one pin to create a 3D field and analyzing a depth measure using hardware or software
Implementation Method 4
the pins are flexible... each pin is configured to press, bend, curve, or combinations thereof in one or more directions
Implementation Method 5
mechanical force is exerted on the device, whereby friction is used to grab the item
Data Source
AI summary
The invention is a device for grabbing an item. Specifically, the device comprises an arm that can be moved relative to a base and an array of pins configured to extend a length away from the base to contact the item to be grabbed. Once the pins contact the item to be grabbed, they cease extending away from the base. At least one axis of movement for the item is controlled by the device. More than one pin is configured to extend further than a minimum axis to contact the item.