Suction Gripper Sealing on Convex Edges for Mixed Object Handling
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Solution Overview
Problem
Existing suction grippers require frequent adjustments to grip objects of different sizes and shapes, leading to reduced productivity in handling systems, especially when objects are disordered and have varying orientations in storage containers.
Innovation Solution
A method using a pneumatically operated suction gripper with an elastically deformable contact portion that targets convex elevations or outer edges for gripping, allowing effective sealing and high frictional forces, regardless of the object's size or shape, by identifying and approaching these features with a robot system equipped with an identification means and control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the suction gripper opening cross section is reduced to match smaller objects, then gripping precision improves, but the device cannot grip larger objects and requires frequent adjustments
Solution Approach 1:
The suction gripper opening cross section is made dynamically adjustable through a drive mechanism that can expand and contract the opening. This allows the gripper to adapt its size to match different object dimensions, achieving precise gripping for both small and large objects without requiring manual adjustments or multiple gripper sizes.
Solution Approach 2:
The opening cross section of the suction gripper is changed as a variable parameter rather than a fixed dimension. By controlling the opening size through the drive mechanism, the system can optimize the gripper parameters for each specific object size, resolving the contradiction between precision and versatility.
2Manufacturing precision
If the suction gripper is frequently adjusted to match different object sizes, then gripping accuracy improves, but productivity decreases
Solution Approach 1:
The manual adjustment mechanism is replaced with an automated drive mechanism controlled by the robot system. This substitution allows the suction gripper opening to be dynamically adjusted without interrupting the automated handling process, maintaining both gripping accuracy and productivity.
Solution Approach 2:
The suction gripper opening is adjusted in advance to the required size before gripping each object. The identification system detects object dimensions and pre-adjusts the gripper opening accordingly, eliminating the need for mid-process adjustments and maintaining continuous high-speed operation.
3Device complexity
If a single suction gripper size is used for all objects, then device complexity is reduced, but gripping reliability decreases for objects of varying sizes
Solution Approach 1:
A single suction gripper design performs multiple functions by dynamically adjusting its opening cross section. Instead of requiring multiple fixed-size grippers for different object sizes, one universal gripper with variable opening can reliably grip objects across a wide size range, reducing overall system complexity while maintaining reliability.
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 secure gripping of objects with diverse shapes and sizes using a single suction gripper, enhancing productivity by maintaining effective sealing and high holding forces, even when objects have different orientations and surface features.
Implementation Method 1
A handling system is used here to selectively grip individual goods in a storage container and, after gripping, to move the object to another location. For this purpose, the handling system used usually comprises a robot with a robot arm and a gripping device connected to the robot arm. The gripping device is in particular a suction gripping device which comprises a pneumatically operated suction gripper having an elastically deformable contact portion for contact with an outer surface of the object to be gripped.
Implementation Method 2
In order to grip an object, the suction gripper is usually moved toward planar portions of the outer surface (in particular flat portions of the outer surface) so that the contact portion of the suction gripper rests as flatly and sealingly as possible against the planar portion of the outer surface.
Implementation Method 3
The suction gripper has a wall which extends away from a connection nipple and opens into an elastically deformable contact portion (in particular in the manner of a sealing-lip-like portion) for contact with an outer surface of an object to be gripped.
Data Source
AI summary
The invention relates to a method for gripping an object by a handling system, including a robot with at least one robot arm, a gripping device which is connected to the robot arm and has a pneumatically operated suction gripper having an elastically deformable contact portion for contact with an outer surface of the object to be gripped, an identifier for identifying the outer surface of the object to be gripped and a controller which interacts with the identifier and is designed to control the robot.