Gripper Force Measurement Device for Dual-Surface Grip
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Solution Overview
Problem
Existing grippers lack the capability to accurately measure gripping forces on both surfaces of a gripper finger, particularly for both tensile and compressive forces, especially when performing outside and inside grips, which limits their versatility and precision in handling various objects.
Innovation Solution
A gripper design featuring a force-measuring device integrated between the gripper fingers and the base body, with a joint guide allowing adjustable movement and a pivot bearing to measure forces on both gripping surfaces, enabling the gripper to record both tensile and compressive forces effectively during both outside and inside grips.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force measuring device is integrated to measure forces on both gripping surfaces, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The force measuring device integrates multiple measurement capabilities into a single unit. The device combines first and second force measurement elements that can measure forces in opposite directions simultaneously, merging what would traditionally require separate measurement systems into one integrated component mounted on the gripper finger.
Solution Approach 2:
The force measuring device is designed to perform multiple measurement functions through a single integrated structure. It can measure gripping forces on both the first and second gripping surfaces, detect forces in opposite directions, and provide comprehensive force feedback for different grip types (outside grip and inside grip), making it a multi-functional measurement system.
2Adaptability or versatility
If the gripper is designed to perform both outside and inside grips, then adaptability is improved, but device complexity increases
Solution Approach 1:
The gripper finger is designed with universal functionality to perform both outside grips and inside grips. The finger comprises first and second gripping surfaces that can contact objects from different directions, and the force measuring device is positioned to detect forces during either grip type, allowing a single gripper structure to handle multiple grasping scenarios.
Solution Approach 2:
The gripper design incorporates spatial versatility by arranging gripping surfaces and force measurement elements to detect forces from different directional dimensions. The first and second gripping surfaces are positioned to enable contact during outside grips, while the same structures can engage with objects during inside grips, adding operational dimensional flexibility.
Data Source
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AI summary
The invention relates to a gripper (11) having a gripper base body (12), at least one first gripper finger (16.1) and at least one second gripper finger (16.2, 16.3), as well as a transmission (21) designed to mount the at least one first gripper finger (16.1) and the at least one second gripper finger (16.2) on the gripper base body (12) such that they can be adjusted relative to one another, having a force measurement device (24) which is designed to measure both the forces in a first direction and the forces in an opposing second direction, and which is arranged between a second arm (22.2) and a finger base body (18) of the gripper finger (16.1, 16.2), and which is configured to measure a gripping force acting on a first gripping surface (25.1) of a first arm (22.1) and a gripping force acting on the second gripping surface (25.2) of the first arm (22.1).