Elastic Preload Mechanism for Adaptive Gripper Force Control
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Solution Overview
Problem
Electric control grippers and movement systems face challenges in adapting to items or objects with varying dimensions due to fixed actuator and kinematic transmission, leading to insufficient or excessive gripping force, and require complex and energy-intensive control systems to maintain precise positioning.
Innovation Solution
Incorporating an elastic means preloaded between a towing slide and a cursor, allowing the cursor and towing slide to move together under unchanged preload, enabling variable strokes and adjusting gripping force based on resistance, thus reducing the need for sophisticated electronic and mechanical management and allowing the electric actuator to maintain consistent rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed actuator and kinematic transmission are used to transmit a set stroke to the gripper jaws, then the structure is simple, but the gripping force cannot be adapted to items with different dimensions
Solution Approach 1:
The patent introduces a dynamic elastic element (spring) between the cursor and the towing slide, allowing the system to adapt automatically to different load conditions. The elastic element enables the cursor to move variable distances relative to the towing slide based on the resistance encountered, providing adaptive gripping force without complex electronic control systems.
Solution Approach 2:
The elastic element changes the mechanical parameters of the system by allowing variable displacement between the cursor and towing slide. This parameter change enables the system to accommodate different item dimensions and gripping forces while maintaining a simple overall structure.
2Measurement precision
If the motor rotates at constant speed, then the actuator operation is simple, but the gripper cannot maintain precise positioning on items with varying dimensions
Solution Approach 1:
The elastic element provides self-regulating functionality by automatically adjusting the cursor position based on the resistance encountered. The system serves itself by using the elastic element's inherent properties to maintain precise positioning without requiring continuous energy input from the actuator or complex control systems.
Solution Approach 2:
The elastic element allows the cursor to move in periodic cycles relative to the towing slide, adapting to the resistance variations. This periodic movement enables precise positioning while the actuator can maintain constant rotation, reducing energy consumption compared to continuous adjustment.
3Adaptability or versatility
If electronic control is used to adjust the stroke of the gripper jaws, then the gripping force can be adapted, but the control system becomes sophisticated and expensive
Solution Approach 1:
The patent replaces electronic control systems with a mechanical solution using an elastic element. The elastic element provides the adaptive gripping force through pure mechanical means, eliminating the need for sophisticated electronic controls while maintaining adaptability to different item dimensions and forces.
Solution Approach 2:
The elastic element creates a self-regulating mechanical system that automatically adapts to different loading conditions. The system serves itself by using the elastic element's inherent elastic properties to adjust the cursor position and gripping force without requiring external electronic control.
4Reliability
If the actuator remains continuously active to maintain the gripper in an active position, then the gripping is maintained, but energy absorption increases
Solution Approach 1:
The elastic element acts as a counterweight to the actuator's continuous energy input. By storing and releasing mechanical energy through elastic deformation, the element helps maintain the gripping position without requiring the actuator to remain continuously active, thereby reducing energy absorption.
Solution Approach 2:
The elastic element enables periodic maintenance of the gripping position through elastic recovery. The system can maintain reliability by using the elastic element's natural recovery properties rather than continuous actuator activation, reducing energy consumption while maintaining the gripping state.
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
This solution simplifies the kinematic transmission, ensures appropriate gripping force on items with different dimensions, reduces energy consumption, and allows for precise control of gripping force without continuous actuator activation, enhancing the precision and efficiency of gripper tools.
Implementation Method 1
at least an elastic means positioned preloaded between said towing slide and said cursor in parallel both to their movement direction and to the movement direction of at least a mobile member, so that cursor and towing slide can move both together as one as long as the preload of the elastic means remains unchanged, and independently one from the other in answer to the variation of the preload of the elastic means deriving from a resistance against the movement of said movable member
Data Source
AI summary
A device for operating gripping or movement tools provided at least with a movable member (16, 17) movable alternatively between a first and a second position distanced between them by a cursor (18) susceptible to controlled alternative linear movements starting from an electric actuator. The device includes a transmission element (27) of the movement connected to the actuator, one towing slide (26) associated with the cursor (18) and susceptible to alternative movements caused by the actuator by the transmission element, and at least an elastic member (28) positioned preloaded between the towing slide (26) and the cursor (18) parallel both to their movement direction and to the movement direction of at least a mobile member. The cursor and the towing slide can both move rigidly together as long as the preload of the elastic element remains unchanged, both independently one with the other in reply to the variation of the preload of the elastic element deriving from a resistance against the movement of at least the mobile member.