Segmented Gripper Surface Parts for Cloth Handling

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing gripper technologies are inadequate for securely gripping and holding individual pieces of cloth, especially at protruding areas, as they often pinch from two sides, leading to insufficient grip and can push away pieces during handling, resulting in failed grip actions.

Innovation Solution

The gripper employs opposed, movable, coherent surface parts that move along a path to bring them closer and away from the cloth, allowing new surface parts to engage and enhance the grip, with a mechanism involving a chain, band, or wheel structure and flexible, rubbery surfaces to create a secure nipping action, using a robotic arm for precise positioning and movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If the gripper uses opposed surface parts to pinch the cloth from two sides, then the gripping action is simple, but the grip on protruding areas is insufficient

Engineering Contradiction:

Improvegripper structureVSAvoidgrip reliability

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The gripper surface is divided into multiple discrete gripping elements (fingers or teeth) rather than using a single continuous opposed surface. This segmentation allows individual elements to engage with protruding areas of the cloth, improving grip reliability while maintaining relative structural simplicity

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The gripping action transitions from a single-plane pinching motion to a multi-dimensional engagement where segmented surface parts can approach the cloth from different angles and depths, enabling reliable gripping of protruding areas while keeping the overall device structure simple

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Ease of operation

If the gripper pinches cloth from two opposed sides, then the gripping motion is straightforward, but the grip fails on protruding areas

Engineering Contradiction:

Improvegripping motionVSAvoidgrip success rate

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The opposed surface is segmented into multiple gripping elements that can independently engage with the cloth, allowing the simple pinching motion to effectively grip protruding areas through distributed contact points

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The gripping elements are made movable relative to each other, allowing them to dynamically adjust their positions and engagement forces based on the cloth's geometry, maintaining ease of operation while improving grip reliability on complex shapes

Inventive Principle:

Principle #15Dynamics

3Ease of manufacture

If the gripper uses a simple opposed surface structure, then the device is easy to manufacture, but it cannot securely hold individual cloth pieces

Engineering Contradiction:

Improvegripper constructionVSAvoidholding capability

Core Design Contradiction:

Ease of manufactureVSReliability

Solution Approach 1:

The simple opposed surface is segmented into multiple gripping elements that can be manufactured using standard processes, and these segments work together to securely hold individual cloth pieces through distributed gripping points

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The gripping elements are made from flexible materials that can conform to the cloth's surface and protruding areas, enabling secure holding of individual pieces while maintaining ease of manufacture through the use of flexible, easily formed components

Inventive Principle:

Principle #30Flexible shells and thin films

4Ease of operation

If the gripper advances into a pile of cloth with pointed foremost parts, then the gripper can penetrate the pile, but the points push away the cloth and cause failed grip

Engineering Contradiction:

Improvepenetration capabilityVSAvoidgrip action

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The foremost parts are segmented into multiple gripping elements rather than a single pointed structure, allowing the gripper to penetrate the cloth pile through distributed contact while the segments work together to secure the cloth without pushing it away

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of using pointed foremost parts that push cloth away, the gripper uses rounded or flat gripping elements that can gently engage and advance into the cloth pile, inverting the traditional pointed-pincher approach to achieve both penetration and secure grip

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentUS11370126B2Method for gripping, moving and releasing a piece of cloth with a gripper, and a gripper

Publication Date: 2022.06.28 INWATEC APS

AI summary

A method for gripping, moving and releasing a piece of cloth with a gripper that is initially placed with opposed, movable, coherent, flexible surface parts in contact with the piece of cloth, and the surface parts are moved with respect to each other and with respect to the gripper in a gripping action, in order to pinch and hold on to the piece of cloth. The gripper with the piece of cloth pinched between the surface parts is moved to a different location, wherein the surface parts move in a reverse direction in order to release the piece of cloth. While in contact with the piece of cloth, the opposed surface parts are moved along a path which brings the surface parts both closer to each other and moves them in a direction away from the piece of cloth.