Conductive Gripper Tong Teaching via Current Detection
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Solution Overview
Problem
Current methods for teaching a gripping device to precisely locate and align with machine tools and pallets are expensive and lack accuracy, as they rely on mechanical touching or image sensors for determining three-dimensional positions.
Innovation Solution
An apparatus with a gripping arm equipped with electrically conductive gripping tongs and a control unit that applies a direct voltage, allowing for accurate position determination by detecting current changes when the tongs contact grounded reference components, and uses adjustment drives and position sensors for precise alignment and calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical touching of reference points is used for teaching, then position determination accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces the mechanical touching system with an electrical contact system. Instead of using mechanical probes to touch reference points, the invention uses electrically conductive gripping tongs that make electrical contact with grounded reference components. This substitution maintains measurement precision while significantly reducing device complexity and cost, as the electrical system can utilize existing control lines and detecting means already present in the robot system.
Solution Approach 2:
The patent introduces an electrical field as an intermediary between the gripping device and the reference component. By applying direct voltage to the conductive gripping tongs and detecting current flow when contacting grounded reference components, the system uses electrical conduction as a mediator to determine position and alignment, avoiding the need for complex mechanical measurement apparatus.
2Device complexity
If image sensors are used for teaching, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent replaces the optical/image sensor system with an electrical contact system. Instead of using cameras to capture images and compute three-dimensional positions, the invention uses electrical conduction through conductive gripping tongs to directly determine position and alignment by detecting current flow when contacting reference components, achieving higher precision with simpler equipment.
3Productivity
If automated teaching is implemented, then productivity is improved, but measurement precision may deteriorate due to lack of manual adjustment
Solution Approach 1:
The patent implements a self-service automated teaching system where the gripping device autonomously determines its own position and alignment parameters. The conductive gripping tongs automatically detect reference points and calculate positional data without requiring external intervention or manual adjustment, enabling both high productivity and maintained precision through self-calibration.
Solution Approach 2:
The patent incorporates feedback mechanisms where the detecting means continuously monitors current flow in control lines during automated operation. This real-time feedback allows the control unit to adjust and refine position determination dynamically, ensuring high measurement precision is maintained throughout the automated teaching process without manual intervention.
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
Enables a highly accurate, automated determination of the position and alignment of chucks and pallets, minimizing teaching costs and errors through precise analysis of current signals and correction values for sensor-related errors.
Implementation Method 1
Via a control line, a control unit is electrically connected with the gripping tongs and can apply a direct voltage to the gripping tongs or to an electrically conductive measuring body held by the gripping tongs. If one of the gripping tongs of the gripper or the measuring body comes into contact with an electrically conductive, grounded component, current flows through the control line.
Data Source
AI summary
An apparatus for teaching a gripping device is disclosed. The gripping device includes an arm. The arm has a free end that can be freely moved in an operating region and includes a gripper. The gripper includes at least one, preferably two pairs of spaced apart gripping tongs consisting of an electrically conductive material. A control unit is included electrically connected to the tongs or a measuring body. A detecting means detects current in a control line. The apparatus uses a reference component having three reference surfaces to determine a reference coordinate system. By pre-specifying several points on the reference component that are to be approached, an automated determination of the position and alignment of a chuck or pallet can be utilized. A highly accurate analysis of a current signal is used by the apparatus for teaching the gripping device.