Automatic Gripper Position Detection for Faster Teach-In
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Solution Overview
Problem
The manual teaching-in of gripper positions for jaw grippers in robots is time-consuming and elaborate, requiring manual movement of the gripper to specific positions and sending teach-in commands to sensors for storing positions corresponding to 'idle', 'object', and 'no object' states.
Innovation Solution
A method and device for automatically detecting gripper positions by starting a teach-in process, detecting the position and direction of the actuating element's movement, storing positions and directions, and assigning gripper states, which simplifies the teaching-in process and can be performed by untrained personnel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual teaching-in of gripper positions is performed, then accurate position recognition is achieved, but the process is time-consuming and elaborate
Solution Approach 1:
The sensor automatically detects and stores gripper positions during normal operation without requiring manual intervention. The system serves itself by learning positions through observed gripper movements and stopping points, eliminating the need for manual teach-in commands while maintaining accurate position recognition.
Solution Approach 2:
The sensor continuously monitors the actuating element's position and provides feedback about detected stopping points. This feedback mechanism allows the system to automatically identify and store position data, replacing manual teaching-in with an automated feedback-driven learning process.
2Reliability
If manual teach-in commands are sent to sensors, then gripper positions are stored accurately, but the process requires trained personnel and is elaborate
Solution Approach 1:
The sensor system automatically performs the teach-in function by detecting stopping points during normal gripper operation. No trained personnel are needed to send teach-in commands, as the system self-configures by observing and recording position data from actual usage.
Solution Approach 2:
The manual mechanical process of moving the gripper to positions and sending commands is replaced with an automated detection system that observes the actuating element's position electronically. This substitution eliminates the need for manual intervention while maintaining reliable position data acquisition.
3Adaptability or versatility
If multiple gripper positions are manually configured, then different object sizes can be handled, but the complexity of the teaching-in process increases
Solution Approach 1:
The sensor automatically detects and stores multiple stopping points corresponding to different object sizes during normal operation. The system self-configures for handling various objects without requiring complex manual teaching-in procedures, simply by observing different stopping positions during use.
Solution Approach 2:
The system performs preliminary detection and storage of multiple position data points during initial operation phases. By automatically capturing stopping points for different objects early in the process, the system prepares the position database without requiring complex manual configuration for each object type.
Data Source
AI summary
In order to provide an improved method and device to facilitate the teach-in of gripper positions, it is suggested that the positions be automatically detected. The procedure shall include:starting a teach-in process,detecting the position and the direction of movement of the actuating element on its path with a sensor,performing gripping movements from one position to another and stopping the gripper in each of the positions,storing the position of the actuating element when the gripper stops and storing the direction of movement from which this position was approached as the associated direction of movement,stopping the teach-in process when as many different positions with the associated movement directions have been stored as there are gripper positions,assigning of the gripper positions to the three positions from the stored positions and the stored, associated movement directions.