Compliant Vacuum Cup Lip Structure for Noise Mitigation
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Solution Overview
Problem
Existing end-effectors for robotic systems face challenges in securely grasping a wide variety of objects without producing unacceptable noise levels, particularly when using vacuum pressure, due to inadequate sealing and lip vibration.
Innovation Solution
Incorporating noise mitigation features such as protrusions, lands, or bumps on the vacuum cup lip to increase mass and reduce vibration, while maintaining flexibility for effective sealing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a flexible vacuum cup with compliant lip is used to adapt to variations in surface structures, then the sealing capability is improved, but the noise level increases due to lip vibration
Solution Approach 1:
The patent applies the principle of mechanical vibration by intentionally inducing controlled vibrations in the compliant lip through vacuum pressure differentials. The vibrating compliant lip creates a sealing action against the object surface while the vibration frequency is controlled to minimize noise generation. This resolves the contradiction by using vibration to enhance sealing rather than avoiding it.
Solution Approach 2:
The patent changes the physical parameters of the compliant lip by varying its material properties (flexibility, elasticity) and geometric parameters (thickness, shape) to optimize the balance between sealing capability and noise generation. By adjusting these parameters, the lip can adapt to surface variations while controlling vibration amplitudes that cause noise.
2Object-generated harmful factors
If the vacuum cup lip is made less flexible to reduce noise, then the noise level is reduced, but the adaptability to different object surfaces deteriorates
Solution Approach 1:
The patent applies local quality by creating zones of different flexibility within the compliant lip structure. Different portions of the lip have varying degrees of compliance tailored to their specific functions - some areas provide adaptability to surface variations while other areas control vibration to minimize noise. This localized differentiation resolves the contradiction between flexibility and noise reduction.
Solution Approach 2:
The patent uses composite materials or multi-layer structures for the compliant lip, combining materials with different mechanical properties. This allows the lip to exhibit both flexibility for sealing and damping characteristics for noise reduction, resolving the contradiction through material composition rather than single-material properties.
3Force
If vacuum pressure is increased to improve grasping force, then the grasping capability is improved, but the noise level increases due to enhanced lip vibration
Solution Approach 1:
The patent uses controlled mechanical vibration at the compliant lip to create a sealing mechanism that works in conjunction with vacuum pressure. The vibration-induced sealing reduces leakage and allows higher vacuum pressures to be applied without excessive noise, as the vibration frequency is managed to prevent loud noise generation while maintaining effective sealing.
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 noise mitigation features significantly reduce lip vibration and noise generation, ensuring secure grasping and sealing of diverse objects without exceeding safe noise limits.
Implementation Method 1
Many end-effectors employ vacuum pressure for acquiring and securing objects for transport and/or subsequent operations by robotic systems that include articulated arms.
Implementation Method 2
The compliant lip may be formed of a polymeric or elastomeric material that is flexible enough to allow it to adapt to variations in surface structures.
Data Source
Figure 1~2
Figure 3A~3B
Figure 4A~4B
AI summary
A vacuum cup is disclosed for use in a programmable motion device. The vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of tlie vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through which a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip.