Tented Bag Gripper for Polybagged Clothing Handling
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Solution Overview
Problem
Conventional robotics struggle to effectively pick and handle bagged objects, particularly those in polybags, due to difficulties in singulating and maintaining the shape of the bagged articles, which limits the adoption of industrial robotics in garment and similar handling businesses.
Innovation Solution
A gripper system that includes a pinching mechanism to form a fold in the bag, a linear actuator to retract the pinched fold and form a tented bag, and resilient members to securely grasp the bagged object, allowing for independent actuation and varying gripping configurations to accommodate different sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional grippers are used to pick polybagged articles, then the structure is simple, but the gripper cannot successfully pick or maintain hold of the soft bagged objects
Solution Approach 1:
The gripper is divided into multiple independent components: a pinching gripper with opposing clamping elements for creating folds, a linear actuator for retraction, and resilient members for enclosing. Each component performs a specific function in sequence, allowing the system to reliably handle soft bagged objects through coordinated action of segmented parts.
Solution Approach 2:
The gripper employs dynamic actuation sequences where the pinching gripper first creates a fold, then the linear actuator retracts to form a tented bag, and finally the resilient members enclose the structure. This dynamic, multi-stage process adapts to the compliance of soft objects, enabling reliable picking that static grippers cannot achieve.
2Reliability
If the gripper system uses multiple actuated components for secure holding, then the gripping reliability improves, but the device complexity increases
Solution Approach 1:
The pinching gripper performs preliminary action by creating a fold in the bag before the resilient members engage. This pre-processing of the object geometry provides a secure anchor point, allowing the subsequent enclosing action to be more effective and reliable with simpler actuation requirements.
Solution Approach 2:
The pinching gripper is nested within the resilient members structure. The pinching gripper operates first to create the fold, then retracts, and the resilient members enclose the formed structure. This nested arrangement allows multiple gripping functions in a compact configuration, improving grip security without proportionally increasing overall system complexity.
3Productivity
If the gripper retracts to form a tented bag for high-speed movement, then the processing efficiency improves, but the control complexity increases
Solution Approach 1:
The gripper system employs periodic, sequential actuation: the pinching gripper activates to create a fold, then deactivates while the linear actuator activates to retract and form the tented bag, followed by the resilient members activating to enclose. This periodic, phase-separated control simplifies the timing requirements compared to simultaneous multi-component actuation, enabling high-speed operation with manageable control 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
The gripper system provides a secure hold on bagged objects, resisting slipping and enabling efficient processing, even at high speeds, thereby enhancing the capability of robotics in handling polybagged items.
Implementation Method 1
a grasp-type gripper including a plurality of resilient members, the resilient members actuatable by a first actuator to perform a grasping action
Data Source
AI summary
A method for picking polybagged articles includes targeting the polybagged article, placing a multistage gripper adjacent the polybagged article, tenting, pressing on, or suspending the polybagged article from the tenting tool, and gathering the polybagged article with a perimeter gripper.