Sliding Guide Block for Suction Gripper Lateral Deflection
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Solution Overview
Problem
Suction grippers face challenges in environments with random and irregular surfaces, leading to potential damage from vertical and lateral forces when engaging target objects, such as in recycling and consumer waste handling facilities.
Innovation Solution
A robotic end effector apparatus with spring biased mounting fasteners and a movable shaft that allows for lateral deflection up to 10-15 degrees, compensating for lateral forces and maintaining contact with irregular surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the delta robot applies vertical force to engage the target object, then the object can be grasped, but the suction gripper or robot may be damaged
Solution Approach 1:
The patent introduces a sliding guide block with spring elements that provide cushioning before damage occurs. The spring elements are pre-configured to compress when vertical forces are applied, absorbing excess force and preventing damage to the suction gripper or robot structure.
Solution Approach 2:
The sliding guide block allows the suction gripper to adjust its vertical position dynamically. When vertical force is applied, the gripper can move vertically along the guide block, changing its position parameter to accommodate force variations and prevent damage.
2Adaptability or versatility
If the suction gripper engages objects with random and irregular surfaces, then grasping capability is maintained, but lateral forces cause damage to the gripper or robot
Solution Approach 1:
The sliding guide block transforms the static suction gripper mounting into a dynamic system. The gripper can now move laterally along the guide block when lateral forces are applied, adapting its position to accommodate irregular surfaces while preventing damage through controlled movement rather than rigid resistance.
Solution Approach 2:
The system allows lateral position parameter changes of the suction gripper relative to the robot arm. The sliding guide block enables the gripper to shift laterally along predefined paths, adjusting its position to match irregular object surfaces while maintaining secure grasping.
3Stability of the object's composition
If the suction gripper is mounted rigidly to the robot, then structural stability is maintained, but damage occurs from lateral deflecting forces
Solution Approach 1:
The patent replaces the rigid mounting with a dynamic sliding connection. The sliding guide block allows controlled movement while maintaining structural integrity through guided paths. This dynamic connection preserves stability during normal operation but prevents damage by allowing movement when lateral deflecting forces occur.
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 apparatus reduces damage to the gripper and robot by accommodating lateral forces, ensuring effective grasping and handling of objects with irregular surfaces.
Implementation Method 1
a plurality of spring biased mounting fasteners configured to resiliently bias the end effector against the movable mounting frame of the robot
Data Source
AI summary
A robotic end effector includes a mounting block, a shaft, an end effector, and a plurality of spring biased mounting fasteners. The shaft extends from the mounting block and has a longitudinal axis. The end effector is mounted on an end of the shaft for engaging an article to be grasped. The plurality of spring biased mounting fasteners may be configured to connect the mounting block to a movable mounting frame of a robot such that in the absence of a lateral deflecting force being applied to the end effector the mounting block is held resiliently against the movable mounting frame of the robot with the longitudinal axis in a first orientation, and further such that when a lateral deflecting force is applied to the end effector the end of the shaft can deflect laterally such that the longitudinal axis is skewed from the first orientation.