Cable Gripper Force Feedback for Torque-Balanced Rotation
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Solution Overview
Problem
Hydraulic grippers require complex hydraulic systems, increasing size and cost, while rope grippers are difficult to operate due to torque generation during rotation, necessitating skilled operators and strenuous winch operation.
Innovation Solution
A gripper device with detection devices for cable forces and a control device to manage cable winches, ensuring torque balance and precise rotational control through coordinated cable forces and winch operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a hydraulic gripper is used, then the operation is easy and control is simple, but the device complexity increases due to hydraulic lines, cable reels, and winch drives
Solution Approach 1:
The patent extracts the hydraulic system from the gripper device, replacing it with a purely mechanical cable-based actuation system. The hydraulic lines, cable reels, and complex winch drives are removed, leaving only the essential cable winches for operation.
Solution Approach 2:
The patent replaces the hydraulic system with a mechanical cable winch system. Instead of using hydraulic fluid pressure to actuate the gripper blades, the invention uses mechanical winding of cables wound around winches, eliminating the need for hydraulic components while maintaining operational simplicity.
2Device complexity
If a rope gripper is used, then the device complexity is reduced, but the ease of operation deteriorates due to torque generation requiring experienced operators
Solution Approach 1:
The patent introduces feedback mechanisms through sensors that detect cable forces and gripper blade positions. This feedback is processed by a control unit that automatically adjusts the cable winches to compensate for torque generation, eliminating the need for operator experience while maintaining simple device structure.
Solution Approach 2:
The patent changes the operational parameters by using sensor-based detection of cable forces and positions, then automatically adjusting the winch operation based on this feedback. This transforms the manual, experience-based operation into an automated process that maintains simplicity while improving ease of operation.
3Device complexity
If manual operation of rope winches is used, then the device structure remains simple, but the operator strain increases due to strenuous winch operation for several hours
Solution Approach 1:
The patent replaces manual mechanical winch operation with an automated cable winch system controlled by a control unit. The winches are actuated by electric motors rather than manual foot pedals, eliminating the strenuous physical effort required while maintaining simple device structure.
Solution Approach 2:
The patent implements self-service operation where the control unit automatically manages the cable winches based on sensor feedback. The system monitors cable forces and blade positions, then autonomously adjusts the winch operation, freeing the operator from strenuous manual winch operation while maintaining simple overall structure.
Data Source
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AI summary
The invention relates to a gripper device with a carrier device and a cable gripper arranged thereon, which has a gripper frame which is held on the carrier device by a retaining cable, at least two gripper blades which are pivotably mounted at a lower end of the gripper frame between a closed position and an open position, and an actuating device with an actuating cable for pivoting the gripper blades, wherein an actuating cable is led from the carrier device to the actuating device, and the carrier device has a driven first cable winch for the retaining cable and a driven second cable winch for the actuating cable.According to the invention, a first detection device for detecting a first rope force on the holding rope and a second detection device for detecting a second rope force on the operating rope are provided, and a control device is provided which is connected to the first detection device, the second detection device, the first winch and the second winch and is designed to control the first winch and/or the second winch according to a control program specification, depending on the detected first rope force on the holding rope and the detected second rope force on the operating rope.