Gripper Bearing Sensor Layout for Accurate Clamping Force Sensing
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Solution Overview
Problem
Existing gripper technologies face challenges in accurately measuring clamping force independently of energy supply and are influenced by interfering forces and torques, leading to increased energy consumption and unreliable force measurement.
Innovation Solution
A gripper design with a separate transmission link bearing assembly that absorbs only the clamping force reaction, allowing a sensor to detect the clamping force independently of gripper finger position and shape, and featuring a self-retaining drive train to maintain gripping force without additional brakes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor is integrated into the gripper finger to measure clamping force, then measurement precision is improved, but the sensor is influenced by interfering forces and torques from gripper finger position and shape
Solution Approach 1:
The sensor is extracted from the gripper finger and relocated to the transmission link bearing assembly. This separation removes the sensor from the direct path of interfering forces and torques that act on the gripper fingers during operation, allowing the sensor to measure only the clamping force reaction force without contamination from other mechanical loads.
Solution Approach 2:
The transmission link bearing assembly serves as an intermediary structure between the gripper finger and the sensor. It transmits the clamping force reaction force to the sensor while filtering out interfering forces and torques, acting as a mechanical mediator that isolates the measurement point from harmful influences.
2Reliability
If additional brakes are added to maintain gripping force during energy supply interruptions, then reliability is improved, but device complexity increases
Solution Approach 1:
The self-retaining drive train is designed to automatically maintain the gripping force without requiring additional braking mechanisms. The drive train's inherent mechanical properties allow it to hold position and maintain clamping force passively during energy supply interruptions, making the system self-sufficient and eliminating the need for complex active braking systems.
3Reliability
If continuous energy supply is maintained to hold gripping force, then reliability is improved, but energy consumption increases
Solution Approach 1:
The self-retaining drive train uses passive mechanical retention mechanisms that maintain gripping force without requiring continuous active energy input. Once the gripper closes and engages the object, the drive train's mechanical design allows it to hold the position and force automatically, converting from an active energy-consuming system to a passive energy-independent system during the holding phase.
Data Source
AI summary
A gripper includes at least one first gripper finger adjustably mounted to a gripper main body by a gripping finger mount, at least one second gripper finger cooperating with the first gripper finger, and a motor-drivable transmission configured to adjust the at least one first gripper finger relative to the gripper main body and the at least one second gripper finger such that a clamping force is generated, whereby an article can be held in a clamped manner by the gripper. The transmission includes a first transmission member connected to the first gripper finger, and a second transmission member mounted on the gripper main body by a transmission-member bearing arrangement having a first transmission member bearing configured to absorb the transmission-bearing reaction force that acts in a direction of the clamping force. The transmission-member bearing arrangement includes a sensor configured to sense the transmission-bearing reaction force.