Force-Sensing Gripper Control for Unknown Piece Goods
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Automated handling devices face challenges in efficiently handling piece goods due to unknown properties such as weight, center of gravity, and surface characteristics, often requiring excessive force to prevent items from falling off.
Innovation Solution
A gripping device equipped with sensors to determine the force exerted on the gripping element, a control unit to adjust the actuator based on this force information, allowing precise alignment and movement of the piece goods to minimize the required holding force, and a control unit to determine the center of mass and inertial forces for optimal handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If high gripping force is used to ensure piece goods do not fall off, then reliability of handling is improved, but force required increases and efficiency decreases
Solution Approach 1:
The patent applies feedback by using sensors to detect the actual force exerted on the gripping element by the piece good, then using a control unit to adjust the actuator based on this force information. This closed-loop feedback system allows the gripping force to be dynamically optimized - applying enough force to prevent dropping while minimizing excessive force, thereby resolving the contradiction between reliability and force consumption.
Solution Approach 2:
The patent changes the parameter of gripping force from a fixed high value to a dynamically adjusted value based on real-time force sensor data. By continuously monitoring the actual force and adjusting the actuator accordingly, the system transforms the gripping force parameter to achieve optimal handling with minimal force, resolving the contradiction between ensuring reliability and reducing force requirements.
2Reliability
If high gripping force is used to prevent piece goods from falling, then handling reliability is improved, but energy consumption increases
Solution Approach 1:
The feedback mechanism using force sensors and control units allows the system to apply only the necessary gripping force to maintain reliability. By continuously monitoring actual force requirements and adjusting accordingly, the system avoids energy-wasting excessive force application while maintaining secure handling, thus resolving the contradiction between reliability and energy consumption.
Solution Approach 2:
The patent transforms the static high gripping force approach into a dynamic force adjustment system. The actuator dynamically adjusts gripping force based on real-time sensor feedback, allowing the system to maintain reliability while consuming minimal energy by applying force only when and where needed, rather than continuously applying high force.
3Reliability
If piece goods are handled with excessive force, then they are securely held, but wear on the gripping device increases
Solution Approach 1:
The force sensor feedback system allows the gripping device to apply only the minimum necessary force to securely hold the piece good. By monitoring actual force requirements and adjusting the actuator accordingly, the system prevents excessive force application that would cause wear, thus resolving the contradiction between secure holding and minimizing wear on the gripping device.
4Productivity
If properties of piece goods are unknown, then handling can begin immediately, but optimal handling cannot be achieved
Solution Approach 1:
The patent implements self-service by enabling the gripping device to automatically determine the properties of unknown piece goods through force sensor measurements during handling. The control unit processes this force information to identify characteristics such as center of gravity and mass, allowing the system to adaptively optimize handling parameters without external intervention or pre-knowledge, thus resolving the contradiction between immediate handling and optimal handling.
Data Source
AI summary
A gripping device for handling piece goods, in particular for use in a sorting process includes a gripping element configured to handle a piece good, an actuator configured to move and align the gripping element, at least one sensor configured to determine the force acting on the gripping element by the piece good and to output it as force information, and a control unit configured to control the actuator in such a way that the piece good is aligned and/or moved in space based on the force information.