Robotic End Effector With Frangible Grips for Collision Protection

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Solution Overview

Problem

Conventional robotic processing systems face challenges in preventing damage to end effectors and objects due to unintended contact, which can lead to excessive force application and increased complexity with the use of object detection sensors.

Innovation Solution

The implementation of frangible compliant workpiece engagement members on the end effector that detach at a predetermined force, allowing for 'snap on' reattachment without the need for object detection sensors, thereby reducing the risk of damage and complexity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If conventional rigid end effectors are used to grip workpieces, then gripping force is sufficient, but damage occurs to the end effector and/or object when unintended contact happens

Engineering Contradiction:

Improvegripping forceVSAvoiddamage to end effector and object

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The end effector is divided into a rigid base portion and frangible workpiece engagement members that can detach independently. This segmentation allows the rigid portion to maintain gripping strength while the frangible members protect against damage during unintended contact.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The workpiece engagement members are designed with frangible couplings that change their mechanical properties based on applied force. Under normal gripping conditions, they remain rigid and strong; when excessive force is detected, they transition to a broken state, preventing damage.

Inventive Principle:

Principle #35Parameter changes

2Object-affected harmful factors

If compliant robotic arms with break away features are used, then damage risk is reduced, but excessive force is still exerted on workpieces

Engineering Contradiction:

Improvedamage riskVSAvoidexcessive force on workpiece

Core Design Contradiction:

Object-affected harmful factorsVSForce

Solution Approach 1:

Different parts of the end effector have different mechanical properties. The base portion remains rigid to maintain precise positioning and controlled force application, while only the workpiece engagement members are made frangible to provide protection against excessive force.

Inventive Principle:

Principle #3Local quality

3Reliability

If object detection sensors are added to the robotic processing system, then contact with unintended objects can be detected, but system complexity and cost increase

Engineering Contradiction:

Improvecontact detection capabilityVSAvoidsystem complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The frangible workpiece engagement members serve a dual function: they perform their primary gripping function and simultaneously act as force sensors. When excessive force is applied, they break, providing automatic detection and protection without requiring additional sensor systems.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The frangible coupling mechanism serves multiple functions: it provides the gripping interface, acts as a force sensor, and serves as a protection mechanism. This multi-functionality eliminates the need for separate object detection sensors.

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Object-affected harmful factors

If frangible workpiece engagement members are used, then damage prevention is achieved, but reattachment capability is needed

Engineering Contradiction:

Improvedamage preventionVSAvoidreattachment capability

Core Design Contradiction:

Object-affected harmful factorsVSEase of manufacture

Solution Approach 1:

The frangible workpiece engagement members are designed to be detachable and recoverable. After detaching to prevent damage, they can be easily reattached to the base portion using the complementary coupling features, maintaining system functionality without permanent loss of components.

Inventive Principle:

Principle #34Discarding and recovering

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

This solution prevents distortion and damage to the end effector, objects, and workpieces by allowing controlled detachment and reattachment, eliminating the need for additional sensors and maintaining operational efficiency in collaborative operating spaces.

Implementation Method 1

at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector

Methodology Applied

Scientific EffectFracture Mechanics: Fracture Mechanics

Data Source

PatentUS20220134582A1Robotic processing system

Publication Date: 2022.05.05 HIGHRES BIOSOLUTIONS INC

AI summary

A robotic transport system including a drive section connected to a frame, an articulated arm operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location to another different location in the collaborative space, the articulated arm having an end effector with a workpiece grip having workpiece engagement members engaging and holding a workpiece during workpiece transport, by the arm motion in the at least one axis of motion, wherein at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector from which the at least one of the workpiece engagement members depends.