Suction Gripper Cantilever Arms Flat Object Handling
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Solution Overview
Problem
Existing devices struggle to efficiently pick up and handle flat objects from stacks without causing undesired adhesion effects, which leads to reduced cycle rates and increased costs due to the need for additional retention systems like intermediate layer magazines and pre-separators.
Innovation Solution
A device with at least two controllable suction grippers mounted on flexible, elastically deformable cantilever arms that mimic the 'Fin-Ray' principle, allowing for lateral lifting of flat objects without detaching the central area from the surface, thus preventing adhesion and enabling precise control of the suction pads' movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional suction grippers are used to lift flat objects from stacks, then the objects can be picked up, but adhesion effects cause objects underneath to stick and be pulled along, reducing handling precision
Solution Approach 1:
The suction gripper system employs dynamic movement sequences where the gripper is first tilted at an angle to the stack surface, then raised vertically, and finally tilted back. This dynamic approach prevents adhesion by ensuring the suction cups contact only the target object's upper surface throughout the lifting process, eliminating the harmful adhesion effect that occurs with conventional static lifting methods.
Solution Approach 2:
Before the actual lifting action, the suction gripper performs a preliminary tilting movement to position the suction cups at an angle relative to the stack. This preliminary action ensures that only the top surface of the target object is contacted, preventing simultaneous contact with and adhesion to underlying objects before the lift begins.
2Reliability
If additional retention systems like intermediate layer magazines and pre-separators are used to prevent adhesion, then handling reliability improves, but device complexity and costs increase
Solution Approach 1:
The invention extracts and eliminates the need for complex retention systems by using a simplified suction gripper design that achieves adhesion prevention through its movement sequence alone. The intermediate layer magazines, pre-separators, and other retention systems are completely removed from the system, reducing complexity while maintaining or improving handling reliability.
Solution Approach 2:
The suction gripper system is self-sufficient in preventing adhesion through its own controlled movement sequence, without requiring external retention systems. The gripper's ability to tilt and raise in a specific sequence allows it to prevent adhesion effects independently, making additional retention mechanisms unnecessary.
3Productivity
If the lifting speed is increased to improve productivity, then cycle rates increase, but adhesion effects become more pronounced, reducing handling precision
Solution Approach 1:
The system uses dynamic tilting movements during the lifting process that can be executed at high speeds. By tilting the suction gripper before and during the lift, the contact area with underlying objects is minimized throughout the rapid movement, allowing high cycle rates to be achieved without increased adhesion effects.
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 cost-effective handling of flat objects with high cycle rates without the need for additional retention systems, maintaining handling precision and reducing system costs by preventing adhesion and allowing for independent control of each suction pad's movement.
Implementation Method 1
a vacuum is applied and the top plate is lifted from the stack of plates
Implementation Method 2
flexible extension arms which are movable and at least in some areas elastically or also articulatedly deformable
Data Source
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AI summary
The invention relates to a receiving, holding and/or handling device (10) for flat objects (38), with at least two controllable suction grippers (14), each of which is arranged and fixed at the free ends (16) of movable and at least partially elastically deformable cantilever arms (18) mounted on or supported by a bridge (20), each of which cantilever arms (18) comprises at least one lower beam (22) and one upper beam (24) that meet at the free end (16) of the cantilever arm (18) and are connected there, wherein the upper beam (24) is assigned a pulling device (26) for generating a pulling force with at least one horizontal directional component approximately parallel to the longitudinal extension direction of the cantilever arm (18).The invention further relates to a method for picking up, holding and/or handling flat objects (38) by means of at least two controllable suction grippers (14), each of which is arranged at the free ends (16) of movable and at least partially elastically deformable cantilever arms (18) mounted or supported on a bridge (20), each of which cantilever arms (18) comprises at least one lower beam (22) and one upper beam (24) that meet and are connected at the free end (16) of the cantilever arm (18). At least the upper beam (24) is moved by means of a traction device (26) with at least one horizontal directional component approximately parallel to the longitudinal extension direction of the cantilever arm (18).