Two-Faced Linear Actuated Gripper for Perpendicular Face Handling
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Solution Overview
Problem
Existing robotic grippers face challenges in efficiently gripping objects with multiple perpendicular faces, such as boxes, due to deformation of suction cups which reduces suction force and requires high energy consumption.
Innovation Solution
A suction gripper with two perpendicular gripping surfaces, each equipped with suction cups, is designed to grip objects by positioning one surface adjacent to a face and using a linear actuator and sensor to move the second surface perpendicularly, with a brake engaging to stop movement and maintain position, reducing deformation and energy consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic gripper uses suction cups to grip objects with multiple perpendicular faces, then the gripper can handle various object shapes, but the suction cups deform which reduces suction force and increases energy consumption
Solution Approach 1:
The gripper is divided into two independent gripping surfaces (first and second gripping surfaces), each with its own suction cups arranged in perpendicular directions. This segmentation allows each surface to independently grip a different face of the object, enabling the gripper to handle objects with perpendicular faces while maintaining optimal suction contact on each surface, thereby reducing deformation and energy consumption.
Solution Approach 2:
The invention introduces a second gripping surface that operates in a perpendicular dimension relative to the first gripping surface. The second gripping surface moves along the second direction (perpendicular to the first direction) to engage with the second face of the object. This dimensional approach allows simultaneous engagement with multiple perpendicular faces, improving adaptability while maintaining suction efficiency.
2Strength
If suction cups are pressed against object faces to increase suction force, then gripping strength improves, but suction cup deformation increases which reduces effectiveness
Solution Approach 1:
Each gripping surface has suction cups arranged to provide suction in a specific direction optimized for its target face. The first suction cups are arranged for the first direction, and the second suction cups are arranged for the second direction. This local optimization ensures that each suction cup engages its target face at the optimal angle, maximizing suction effectiveness while minimizing deformation, thereby maintaining both strength and reliability.
3Stability of the object's composition
If a linear actuator continuously moves the second gripping surface to maintain contact with the object face, then gripping stability improves, but energy consumption increases
Solution Approach 1:
The invention replaces continuous mechanical actuation with a braking mechanism. Instead of continuously moving the second gripping surface to maintain contact, a brake is engaged to hold the second gripping surface in position once contact is achieved. This substitution of continuous mechanical motion with a passive holding mechanism maintains gripping stability while significantly reducing energy consumption.
Solution Approach 2:
The linear actuator operates periodically rather than continuously - it moves the second gripping surface to the contact position, then stops and holds position using the brake. This periodic action (move-then-hold cycle) maintains gripping stability through the brake's holding capability while minimizing energy consumption by eliminating continuous motion.
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 effectively grips objects with perpendicular faces, enhancing suction force and reducing energy consumption by maintaining the second gripping surface's position with a brake, allowing for efficient handling of boxes and other objects.
Implementation Method 1
a first gripping surface comprising one or more first suction cups arranged to provide suction in a first direction and a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction
Implementation Method 2
an engageable brake that, when engaged, stops the movement of the linear actuator
Data Source
AI summary
An example two-faced linearly actuated suction gripper includes a first gripping surface having one or more first suction cups arranged to provide suction in a first direction. The suction gripper also includes a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction. The suction gripper further includes a linear actuator configured to provide movement of the second gripping surface parallel to the second direction towards a face of an object. The suction gripper includes a sensor configured to generate data indicating that the face of the object is adjacent to the second gripping surface; and an engageable brake that, when engaged, stops the movement of the linear actuator in response to the data from the sensor indicating that the second gripping surface is adjacent to the face of the object.