Gripping Device Position Deviation Detection via Force and Time
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Solution Overview
Problem
Gripping devices face challenges in accurately gripping objects when the grip target is not aligned with the predetermined reference position, leading to unintended torque loads and potential damage.
Innovation Solution
A gripping device equipped with a motor, a grasper with two fingers, a force detector, and a controller that adjusts the gripping force to match a command value and detects deviations from a reference position by measuring the time from the start of the gripping operation until contact with the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If teaching is performed to align the center position of the work with the center position of the gripping position, then gripping accuracy is improved, but work effort and time are increased
Solution Approach 1:
The gripping device automatically detects the deviation of the work from the reference position using the force detector and time period measurement, eliminating the need for manual teaching operations. The system serves itself by autonomously determining position alignment based on force detection data.
Solution Approach 2:
The patent replaces manual teaching operations with an automated detection system using force detectors and time period measurements. The mechanical alignment process is substituted with an automated sensing and calculation system that determines deviation automatically.
2Measurement precision
If teaching is performed to align the center position of the work with the center position of the gripping position, then gripping accuracy is improved, but work effort is increased
Solution Approach 1:
The gripping device autonomously detects position deviation using force detectors during normal gripping operations, eliminating the need for operators to perform separate teaching operations. The system self-determines alignment status without external intervention.
Solution Approach 2:
Manual teaching operations are replaced with an automated force-based detection system. The operator effort involved in manual alignment is substituted with automatic sensing through force detectors and computational analysis of time period data.
3Productivity
If gripping is performed without position alignment, then work effort and time are reduced, but unintended torque load is applied causing damage
Solution Approach 1:
The force detector provides real-time feedback on the gripping force, and the controller uses the time period from start of gripping operation to when the work contacts the finger to detect position deviation. This feedback mechanism allows the system to identify misalignment and prevent damaging torque loads while maintaining operational efficiency.
Solution Approach 2:
The system performs preliminary detection of position deviation using the force detector and time period measurement before completing the gripping operation. By detecting deviation in advance, the system can prevent unintended torque loads from being applied to the work.
Data Source
AI summary
A gripping device includes a motor configured to rotate according to an operation value; a grasper including a first finger and a second finger, the grasper being configured to change a distance between the first finger and the second finger by using the motor, and to grip an object with the first finger and the second finger; a force detector configured to detect a gripping force by which the object is gripped with the first finger and the second finger, upon occurrence of a condition in which the object is gripped with the first finger and the second finger; and a controller configured to output the operation value such that a force detection value of the gripping force detected by the force detector matches a force command value. The controller is configured to detect a deviation of the object from a predetermined reference position based on a time period from a start of a gripping operation from a timing at which any one of the first finger and the second finger contacts the object.