Gripper Sequence Programming for Precise Parameter Setup
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Solution Overview
Problem
Existing methods for creating gripping-task-specific programs for driven item grippers are inefficient and lack precision in determining optimal gripping parameters, leading to suboptimal performance and potential errors in gripping tasks.
Innovation Solution
A method involving a gripper control module that uses a gripper dataset to determine allowable parameter ranges, integrates a peripheral device for interactive configuration, and creates sequence programs for opening and closing the gripper based on geometric and dynamic information, ensuring precise gripping tasks through actuation profiling and sensor feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing methods are used to create gripping programs, then program creation is simpler, but precision in determining optimal gripping parameters deteriorates
Solution Approach 1:
The system performs preliminary actions by automatically generating initial gripping programs and parameter suggestions before the operator finalizes them. The processing unit pre-calculates optimal gripping parameters based on item data, and the sequence program is prepared in advance with target values and test criteria, reducing the need for complex manual adjustments later
Solution Approach 2:
The patent introduces an intermediary processing unit that acts as a mediator between the operator and the gripper control system. This processing unit automatically determines gripping parameters, generates sequence programs, and provides suggestions to the operator, thereby improving precision without requiring the operator to directly handle complex parameter calculations
2Productivity
If manual parameter adjustment is used, then flexibility in program creation is maintained, but time consumption increases
Solution Approach 1:
The system performs self-service by automatically determining gripping parameters and generating sequence programs without requiring extensive manual intervention. The processing unit autonomously calculates optimal parameters based on item characteristics, and the gripper control module automatically creates the sequence program with target values and test criteria, significantly reducing the time required for program creation
Solution Approach 2:
The patent implements parameter changes by dynamically adjusting gripping parameters based on item-specific data. The system automatically modifies parameters such as gripping force, speed, and position based on the determined item characteristics, enabling rapid adaptation to different items without manual reconfiguration of each parameter
3Reliability
If comprehensive test criteria are implemented, then gripping accuracy is improved, but system complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the control system into distinct functional modules: a processing unit for determining parameters, a gripper control module for executing sequences, and a sensor system for monitoring. The sequence program itself is segmented into target values and test criteria, allowing comprehensive testing without overwhelming system complexity through modular organization
Data Source
AI summary
A method creates gripping-task-specific gripper sequence programs of an item gripper which is controlled by a gripper control module and has a gripper main body and a gripping tool. The item gripper transmits a gripper-main-body-specific identification signal to the gripper control module. The gripper control module assigns a gripper dataset from a database to this identification signal. The dataset has an allowable value range for each settable parameter of the item gripper. A gripping-task-specific configuration dataset for the item gripper is created by a peripheral device. The gripper control module determines gripping-task-specific target values and test criteria. A processing unit of the item gripper establishes the time profile of the actuation of the gripper drive from the target values and determines gripper-specific test values from the test criteria. The present method creates both a sequence program for closing the item gripper and a sequence program for opening the item gripper.