End-of-Arm Tool With Segmented Suction Cups for Adaptive Grasping
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Solution Overview
Problem
Suction cup end-of-arm tools face limitations in generating sufficient force for lifting items of varying sizes and shapes due to restricted access and size mismatches, and they also contribute to increased cycle times in automated systems.
Innovation Solution
The end-of-arm tool employs independently extendable and retractable suction cup assemblies with feedback mechanisms, such as limit switches and pneumatic actuators, to adapt to item shapes and sizes, allowing for efficient engagement and lifting by conforming to the item's surface and optimizing pneumatic pressure for grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a large suction cup is used to lift heavier items, then the lifting force is improved, but the suction cup may be blocked from the desired item by other items or the container
Solution Approach 1:
The suction cup assembly is divided into multiple independently controllable suction cups that can be selectively extended and retracted. This segmentation allows the system to use only the necessary number of suction cups for each task, providing both the force needed for heavy items and the accessibility needed for restricted spaces.
Solution Approach 2:
The suction cup assemblies are made dynamically adjustable through independent extension and retraction mechanisms. Each suction cup assembly can be positioned as needed, allowing the system to adapt its configuration to match the specific geometry and location of items, thereby maintaining both lifting capability and accessibility.
2Ease of operation
If a small suction cup is used to access restricted spaces, then the ease of operation is improved, but the lifting force is insufficient for heavier items
Solution Approach 1:
The system uses multiple suction cups of varying sizes that can be independently deployed. When accessing restricted spaces, only small suction cups are extended, providing ease of operation. When heavier items need to be lifted, additional larger suction cups can be extended to provide the necessary lifting force.
Solution Approach 2:
The suction cup assembly system is designed to perform multiple functions through a single integrated structure. The same housing contains suction cup assemblies that can be configured for different task requirements, making the system universally applicable to both restricted space access and heavy item lifting.
3Adaptability or versatility
If the suction cup assemblies are extended to conform to item shapes, then the adaptability is improved, but the device complexity increases
Solution Approach 1:
The complex adaptation task is divided into independent suction cup assemblies, each capable of simple extension and retraction. This segmentation allows the system to achieve complex conformal arrangements through coordinated simple actions of individual units, reducing the complexity of control for each individual component.
Solution Approach 2:
Limit switches provide feedback on the extended/retracted position of each suction cup assembly, enabling the control system to precisely manage the configuration. This feedback mechanism simplifies control by providing clear positional information, allowing the system to achieve adaptability through programmable sequences rather than complex mechanical linkages.
4Productivity
If feedback mechanisms are added to detect item contact, then the productivity is improved through decreased cycle time, but the device complexity increases
Solution Approach 1:
Limit switches are integrated into each suction cup assembly to provide feedback on extension status and item contact. This feedback enables the control system to automatically detect successful engagement and adjust the picking cycle accordingly, reducing cycle time by eliminating unnecessary movements and enabling faster decision-making in the automation sequence.
Solution Approach 2:
The feedback mechanisms enable the system to self-regulate the picking process. The limit switches automatically provide information about engagement status, allowing the control system to autonomously optimize cycle timing without requiring external monitoring or complex sensor arrays, thereby improving productivity with minimal added complexity.
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 reduces cycle times and enhances the ability to handle diverse items by providing precise control over suction cup extension and pressure, enabling faster and more efficient picking and placing operations.
Implementation Method 1
end effectors sometimes employ suction cups for engaging a surface of an item and using a negative or suction pressure or vacuum to engage and lift the item
Implementation Method 2
Each suction cup assembly includes a pneumatic actuator that is independent of the other suction cup assemblies such that the pneumatic actuator can be used to extend and retract the suction cup assembly along the suction tube
Data Source
AI summary
An end-of-arm tool includes concentric rings of suction cup assemblies. Each suction cup assembly can be independently extended and retracted. Sensors on each suction cup assembly indicate its fully extended position such that displacement from the fully extended position upon contacting an item is indicated by the corresponding sensor.