Addressable Vacuum Gripper Array for Selective Multi-Object Handling

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Solution Overview

Problem

Robotic systems face challenges in selectively gripping and holding objects, particularly irregularly shaped or sized objects, and those in groups, due to a lack of sophistication in replicating human sensitivity and adaptability.

Innovation Solution

A robotic multi-gripper assembly with addressable vacuum regions that can independently provide vacuum gripping, allowing for precise selection and handling of objects based on image data analysis, enabling the system to grip and transport multiple objects simultaneously or sequentially.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a single gripper is used to handle objects, then the device complexity is low, but the ability to selectively grip specific objects from a group and handle irregularly shaped objects is insufficient

Engineering Contradiction:

Improveselective gripping capabilityVSAvoidgripper assembly complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The gripper assembly is divided into multiple independently controllable vacuum grippers arranged in an array, where each gripper can be selectively activated to grip specific objects or regions, enabling selective gripping from groups of objects while maintaining manageable complexity through modular design

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The solution transitions from a single-point gripping approach to a multi-point array configuration, adding spatial dimensionality to the gripping capability. This allows simultaneous engagement with multiple objects or different regions of irregular objects, significantly enhancing adaptability

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Productivity

If multiple vacuum grippers are used to handle multiple objects, then the productivity increases, but the difficulty of controlling and managing the grippers increases

Engineering Contradiction:

Improveobject handling speedVSAvoidgripper control complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The vacuum gripper array uses a universal control mechanism where all grippers share common vacuum supply and control logic, allowing multiple grippers to operate simultaneously with coordinated control. This enables high-speed handling of multiple objects while keeping the control system manageable through standardized interfaces

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system replaces complex mechanical linkage control with vacuum pressure control, where electronic signals regulate vacuum distribution to each gripper element. This substitution simplifies the control architecture while enabling precise, simultaneous actuation of multiple grippers for enhanced productivity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If vacuum gripping is used to handle irregularly shaped objects, then the adaptability to different object shapes improves, but the reliability of maintaining consistent vacuum grip across varying surfaces decreases

Engineering Contradiction:

Improveshape accommodation capabilityVSAvoidvacuum grip consistency

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The vacuum gripping surface is segmented into multiple discrete gripper elements that can independently conform to different surface geometries. Each element maintains its own vacuum seal, allowing the array to adapt to irregular shapes while preserving reliable grip through distributed contact points

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Different regions of the vacuum gripper array can apply localized vacuum pressure tailored to specific object surface characteristics. This allows each gripper element to optimize its grip force and contact area for the local geometry, ensuring consistent vacuum adherence across varied object shapes and surfaces

Inventive Principle:

Principle #3Local quality

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 solution enables reliable and efficient gripping and transportation of various objects, including irregularly shaped ones, by using vacuum grippers that can selectively engage and release objects, improving robotic handling capabilities in complex environments.

Implementation Method 1

A robotic multi-gripper assembly with addressable vacuum regions that can independently provide vacuum gripping

Methodology Applied

Scientific EffectVacuum: Vacuum

Implementation Method 2

addressable vacuum regions that can independently provide vacuum gripping

Methodology Applied

Scientific EffectPressure differential: Pressure Gradient

Data Source

PatentUS11117256B2Robotic multi-gripper assemblies and methods for gripping and holding objects

Publication Date: 2021.09.14 MUJIN INC

AI summary

A system and method for operating a transport robot to simultaneously grasp and transfer multiple objects is disclosed. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. The robotic system receives image data representative of a group of objects. Individual target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified target objects. The transport robot is command to cause the selected addressable vacuum regions to simultaneously grasp and transfer multiple target objects.