Gripping Apparatus with Sensor Feedback for Precise Brick Placement
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Solution Overview
Problem
Existing robotic systems for bricklaying struggle to accurately place bricks without dropping them before contact with the surface is confirmed, and may apply excessive force, potentially damaging the brick, structure, or equipment.
Innovation Solution
A gripping apparatus with a gripper assembly mounted on a robot arm, equipped with sensors to measure relative movement or force along a placement axis, and a controller that sends stop signals to prevent excessive movement or force, allowing controlled release of the brick upon contact detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot controller determines target position using standard sensing methods, then the bricklaying automation can proceed, but the brick may be released before actual contact with the placement surface is confirmed, causing placement errors
Solution Approach 1:
The patent implements feedback control by using a sensor (such as a force sensor or displacement sensor) to detect when the brick actually contacts the placement surface. The controller receives this feedback signal and confirms placement only after contact is verified, ensuring accuracy while maintaining automation speed. This resolves the contradiction by providing real-time verification of placement success.
2Productivity
If the robot controller continues driving the brick towards the target position after determining contact, then automation can proceed without interruption, but excessive force is applied causing damage to the brick, structure, or equipment
Solution Approach 1:
The patent applies preliminary action by pre-configuring the controller to automatically stop the robot arm's movement immediately when the sensor detects contact between the brick and placement surface. This prevents over-travel and excessive force application before the placement cycle is complete, eliminating damage risks while maintaining continuous operation capability.
3Device complexity
If no contact detection mechanism is used, then the system remains simple and fast, but the controller cannot determine when the brick has actually reached the target position
Solution Approach 1:
The patent introduces an intermediary sensor element (such as a force sensor or displacement sensor) that mediates between the brick placement action and the controller's decision-making process. This sensor provides the necessary contact detection capability with minimal addition to system complexity, as it integrates directly into the existing robot arm or gripper assembly.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures accurate placement of bricks by preventing premature release and excessive force, thereby minimizing damage and ensuring precise positioning.
Implementation Method 1
a sensor configured to either measure a relative movement between the gripper assembly and the connector body in a direction aligned with the placement axis
Implementation Method 2
or to measure a force between the gripper assembly and the connector body in a direction aligned with the placement axis
Data Source
Figure 1
Figure 2A~2B
Figure 3A
AI summary
The present disclosure relates to a gripping apparatus for controllably placing an object, the gripping apparatus including: a gripper assembly mounted to a robot arm via a connector body, the gripper assembly including a housing that supports one or more gripper drive assemblies operatively coupled to a pair of opposing gripping clamps, and in use the robot arm is configured to drive the gripper assembly along a placement axis towards a placement surface via the connector body; a sensor configured to either measure a relative movement between the gripper assembly and the connector body or to measure a force between the gripper assembly and the connector body, wherein the sensor generates a sensor output signal based on the measurement; and, a controller configured to send a stop signal to the robot arm to stop further drive of the gripper assembly along the placement axis when the sensor output signal indicates the measured relative movement or measured force exceeds a predefined threshold.