Segmented Vacuum Gripper with Movable Spindles for Irregular Objects
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Solution Overview
Problem
Existing vacuum systems for recycling facilities struggle to effectively grasp and move irregularly-shaped objects due to ineffective vacuum seals, leading to object loss and contamination, and often require increased power consumption.
Innovation Solution
A vacuum system with multiple suction cups, each having a corrugated portion and a movable spindle, allowing for deformation and independent movement to conform to the shape of objects, reducing the likelihood of object loss and contamination while minimizing power usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vacuum head size is increased to improve grasping of irregular objects, then the grasping capability is improved, but the power consumption increases and contaminants are more likely to be drawn in
Solution Approach 1:
The vacuum head is divided into multiple independent vacuum cups (typically 3-4 cups) instead of using a single large vacuum head. Each cup can independently conform to different surfaces of irregular objects, achieving reliable grasping without requiring a large overall vacuum head size, thus avoiding excessive power consumption and contaminant intake.
Solution Approach 2:
The vacuum cups are designed with movable spindles that can independently adjust their positions and orientations. This dynamic capability allows each cup to adapt to the irregular shape of objects in real-time, maintaining effective vacuum sealing without requiring a fixed large-sized vacuum head.
2Area of stationary object
If a single large vacuum head is used to grasp irregular objects, then the vacuum seal coverage is improved, but the system becomes less adaptable to various object shapes and sizes
Solution Approach 1:
The single large vacuum head is segmented into multiple smaller vacuum cups. These cups can be distributed across different areas and can independently adjust to match the contours of various object shapes and sizes, providing both adequate coverage and high adaptability.
Solution Approach 2:
The vacuum cups are arranged in a three-dimensional configuration with movable spindles that can extend, retract, and rotate. This adds spatial dimensions to the vacuum sealing capability, allowing the system to adapt to irregular objects with complex geometries that a flat two-dimensional vacuum head could not accommodate.
3Reliability
If the vacuum head is positioned off-center to target flat surfaces, then the vacuum seal is improved, but the object balance is compromised and object loss increases
Solution Approach 1:
Multiple vacuum cups are distributed across different locations on the object surface rather than concentrating the vacuum force at a single off-center point. This distributed arrangement maintains vacuum seal effectiveness while distributing the grasping force to preserve object balance and prevent rotation or dropping.
Solution Approach 2:
The movable spindles allow each vacuum cup to dynamically position itself on flat or curved surfaces while maintaining appropriate spacing and orientation. This dynamic positioning enables the system to achieve vacuum sealing without fixed off-center positioning, thereby maintaining object balance.
4Reliability
If the vacuum head is varied from the center to target flat surfaces, then the vacuum seal is improved, but the risk of contaminating sorted objects increases
Solution Approach 1:
Multiple vacuum cups are used instead of a single large vacuum head that must be positioned off-center. The segmented cups can form vacuum seals on flat surfaces while remaining centrally positioned, reducing the risk of sweeping in adjacent contaminants during the grasping process.
Solution Approach 2:
The movable spindles enable each vacuum cup to dynamically adjust its position to achieve vacuum sealing on flat surfaces while maintaining a compact, centered overall configuration. This reduces the likelihood of the vacuum head sweeping in or disturbing nearby sorted objects that could cause contamination.
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
The system consistently grasps irregularly-shaped objects with a vacuum seal, reducing contamination and power consumption, enhancing the efficiency and environmental sustainability of recycling processes.
Implementation Method 1
the suction cups consistently grasp irregularly-shaped objects with a vacuum seal
Implementation Method 2
air is configured to be drawn to selectively form a seal with the object
Data Source
AI summary
A vacuum system with multiple suction cups is provided to grasp and move irregularly-shaped objects to reduce the likelihood of dropping the object and contaminating collections of objects, for instance, when sorting objects in a recycling facility. In some embodiments, each suction cup is part of a spindle that moves independently with respect to a spindle flange assembly, and each suction cup is made of a pliable and deformable material. Therefore, as the vacuum system presses the suction cups into an object, the suction cups can deform and/or the spindle can move to better conform the suction cups to the irregularly-shaped object. A pump or other device can draw air through a lower opening in each suction cup to form a seal with the object. As a result, smaller cups and less powerful pumps can be used for improved sorting of objects and material.