Transfer Robot Gripper Head with Adjustable Suction Cups
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Solution Overview
Problem
Current transfer robots with multiple grippers face increased weight and reduced acceleration, leading to longer traversal times, which can only be compensated by handling more products per transfer process, and require complex control for handling non-rotationally symmetrical products.
Innovation Solution
A gripping head with two adjustable grippers that can be synchronized in distance and rotation, using a single controlled axis for adjustment, allowing for simultaneous pick-up and deposition of products with reduced control effort and minimal weight increase.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple grippers are used to handle multiple products simultaneously, then productivity is improved, but the weight of the gripper head increases, reducing acceleration and increasing traversal time
Solution Approach 1:
The gripper head is designed with dynamically adjustable gripper spacing that can be changed during operation. This allows the system to optimize the number of grippers used based on the task requirements, rather than being fixed with a large number of grippers that would always increase weight. The dynamic adjustment capability enables the system to use fewer grippers when handling fewer products, thereby reducing weight and improving acceleration while maintaining high productivity potential when multiple products need to be handled.
2Adaptability or versatility
If multiple grippers with independent control are used to handle non-rotationally symmetrical products, then adaptability is improved, but device complexity increases significantly
Solution Approach 1:
The patent combines the rotational control of multiple grippers into a single unified control mechanism. Instead of independently controlling the rotation of each gripper, the system uses one common rotational axis that rotates all grippers simultaneously. This merging of control functions maintains the ability to handle non-rotationally symmetrical products by providing synchronized rotational positioning, while dramatically reducing the control complexity from multiple independent control systems to a single control mechanism.
3Ease of operation
If gripper spacing is made adjustable to match product patterns, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical adjustment mechanisms for gripper spacing with a more simple system. Instead of using multiple independent mechanical actuators for each gripper position, the invention employs a coordinated mechanical system where a single primary adjustment mechanism controls the spacing of multiple grippers in a synchronized manner. This substitution reduces the overall mechanical complexity while maintaining the ability to match gripper patterns to various product patterns.
Data Source
Figure 1
Figure 2a~2b
Figure 3a
AI summary
In order to accelerate the handling of products (P) with limited additional weight and design effort of the gripper head (20), it comprises several, preferably exactly two, grippers/suction cups (22) and only one controllable axis/degree of freedom of the robot (1) is used to change the relative position of the two grippers/suction cups (22) to each other.