Reconfigurable Robotic End-Effectors With Locking Vacuum Cups
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Solution Overview
Problem
Current end-effectors for robotic arms are designed for specific parts, requiring frequent adjustments and replacements, leading to inefficiencies in production and significant inventory needs due to their limited versatility.
Innovation Solution
A tool module with integrated linear and rotary locking mechanisms that can be pneumatically locked and unlocked, allowing for five degrees of freedom and enabling the end-effector to adapt to various part dimensions and shapes by using a combination of locking mechanisms and a spring-loaded vacuum cup assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If end-effectors are designed for specific parts, then they can reliably grasp the intended part, but they require frequent adjustments and replacements when different parts need to be handled
Solution Approach 1:
The end-effector is designed with multiple vacuum cups that can be positioned at different locations and orientations to handle various part types. The system allows a single end-effector to perform multiple grasping functions by adjusting cup positions and orientations, eliminating the need for multiple specialized end-effectors for different part types.
Solution Approach 2:
The end-effector incorporates adjustable components including vacuum cups mounted on rods with adjustable positions, and a swing arm with adjustable orientation. These dynamic adjustments allow the system to adapt its configuration for different part geometries and grasping requirements, maintaining reliability across diverse part types while reducing setup time.
2Adaptability or versatility
If end-effectors are built manually with modular components, then they can be customized for specific parts, but the setup process becomes slow and tedious
Solution Approach 1:
The end-effector is divided into modular components including multiple vacuum cups, rods, and a swing arm that can be independently adjusted. This segmentation allows each component to be positioned and oriented separately to match specific part requirements, providing high adaptability while maintaining ease of assembly and reconfiguration.
Solution Approach 2:
The system incorporates pre-positioned vacuum cups on adjustable rods and a pre-configured swing arm structure. These preliminary arrangements allow operators to quickly reconfigure the end-effector for different parts by making minor adjustments to predefined components, rather than assembling entire new end-effectors from scratch.
3Adaptability or versatility
If multiple pre-built sub-assemblies are stocked for different parts, then the robot can handle various part types, but significant floor space and inventory are required
Solution Approach 1:
A single end-effector with adjustable vacuum cup positions and swing arm orientations replaces the need for multiple pre-built sub-assemblies. This universal design allows one end-effector to handle various part types by reconfiguring the existing components, eliminating the need to stock multiple specialized sub-assemblies and thereby reducing floor space requirements.
Solution Approach 2:
The vacuum cups are mounted on rods that can be extended or repositioned along the end-effector structure. This nested arrangement allows multiple vacuum cups to be positioned at different depths and locations, enabling a compact design that provides diverse grasping capabilities without requiring additional floor space for multiple separate sub-assemblies.
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 rapid reconfiguration of the end-effector to grasp different parts, reducing setup time and inventory needs, as the tool module can be easily adjusted to accommodate multiple part types with minimal manual intervention.
Implementation Method 1
a suction or vacuum cup (24) that allows the end-effector to be securely coupled to a part (26)
Data Source
AI summary
A tool module associated with an end-effector for a robot arm that includes both linear and rotational locking mechanisms providing movement in five degrees of freedom. The tool module includes an integrated locking assembly that includes a linear locking mechanism and a rotary locking mechanism that are simultaneously locked and unlocked. The linear locking mechanism locks to a rod and the rotary locking mechanism locks and unlocks a shaft that is rigidly coupled to a swing arm. An opposite end of the swing arm includes another linear locking mechanism that locks and unlocks a shaft supporting a vacuum cup at an opposite end. The vacuum cup is mounted to a ball joint on the shaft that allows the vacuum cup to pivot. By locking and unlocking the locking mechanisms of the tool module, the end-effector can be readily configured to grasp and hold various parts of different dimensions and shapes.