Rotating Dual Suction-Gripper End Effector for Confined Picking
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Solution Overview
Problem
Existing order picking systems face challenges in efficiently handling products of different categories, particularly when products are angled or positioned in containers, requiring extensive conversion and mechanical adjustments, and struggle with accessing products in corners or deep within containers.
Innovation Solution
An order picking robot with an end effector featuring two suction grippers that can be rotated and controlled automatically, integrated with a passive valve mechanism for seamless switching between grippers, allowing universal attachment to various articulated-arm robot systems, and utilizing image processing for gripper selection based on product type and position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single suction gripper is used on an articulated arm, then the system structure is simple, but the system cannot easily adapt to different product categories or access products in corners and deep within containers
Solution Approach 1:
The suction gripper is divided into multiple independent suction cups (first and second suction cups) that can be independently activated. This segmentation allows the system to handle different product types by activating only the necessary suction cups, providing adaptability without requiring complete system reconfiguration.
Solution Approach 2:
The end effector incorporates a rotatable bearing that allows the suction gripper to rotate relative to the longitudinal arm. This dynamic rotation capability enables the suction gripper to access products in corners and at various angles within containers, significantly improving adaptability to different product positions and orientations.
2Length of moving object
If the suction gripper is made long to reach deep into containers, then the gripping range is improved, but the interference contour increases and collision risk rises
Solution Approach 1:
The rotatable bearing enables the suction gripper to dynamically adjust its orientation and rotate out of potential collision paths. This dynamic movement allows the gripper to maintain its extended reach for accessing deep containers while minimizing collision risk by actively positioning itself to avoid obstacles.
Solution Approach 2:
The gripper system is segmented into a longitudinal arm and a rotatable suction gripper portion. This segmentation allows the suction gripper to independently rotate and position itself, reducing the interference contour of the overall structure while maintaining the necessary reach length for deep container access.
3Adaptability or versatility
If multiple suction grippers are added to handle different products, then the adaptability improves, but the complexity of mechanical connection and pneumatic/hydraulic lines increases
Solution Approach 1:
The system uses multiple independent suction cups (first and second suction cups) with individual activation control rather than multiple complete suction grippers. Each suction cup has its own activation mechanism, allowing selective engagement based on product type, which reduces the complexity of mechanical and pneumatic connections compared to multiple full gripper systems.
Solution Approach 2:
The end effector with multiple independently controllable suction cups serves as a universal gripping solution for different product categories. A single multi-functional end effector replaces the need for multiple specialized grippers, reducing overall system complexity while maintaining high adaptability to handle various products including packages, bags, and items at different orientations.
4Ease of operation
If the suction gripper is rotated to access corner products, then the accessibility improves, but the risk of collision between suction cups increases
Solution Approach 1:
The rotatable bearing provides dynamic control over the suction gripper's orientation. The system can rotate the suction gripper to access corner products while maintaining safe positioning of the suction cups. The dynamic rotation capability allows real-time adjustment to avoid collisions between suction cups during the picking operation.
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 reliable and efficient gripping of angled products, minimizes interference, and facilitates fully automatic conversion between grippers, ensuring smooth operation even in confined spaces.
Implementation Method 1
a gripper carrier (14) with two suction grippers (18a, 18b) that can be actuated with suction force
Data Source
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AI summary
The invention relates to an end effector for a picking robot with an elongated end effector main body (12) and a gripper carrier (14), wherein the gripper carrier (14) is arranged on the end effector main body (12) via a rotary or pivot bearing (16) so as to be rotatable or pivotable about a rotary or pivot axis extending transversely to a longitudinal direction of the end effector main body (12).It is proposed that at least two suction grippers (18a, 18b) are arranged on the gripper carrier (14), which can be automatically activated or deactivated by a rotation of the gripper carrier (14), wherein each activated suction gripper (18a, 18b) projects beyond a free end of the end effector main body (12) and is pivotable within a predetermined angular interval assigned to the respective active suction gripper (18a, 18b), and a suction or compressed air line (20) for supplying the suction air or compressed air for the suction grippers (18a, 18b) is guided through the rotary or pivot bearing (16), wherein a connection between the respective active suction gripper (18a, 18b) and the suction or compressed air line (20) remains in place during rotational movements of the gripper carrier (14) within the predetermined angular interval.