Gripper Jaw Slip Detection for High-Speed Sheet Handling
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Solution Overview
Problem
Existing gripping devices for moving objects, particularly in sheet metal forming, face challenges with relative movement and speed detection, leading to potential slipping and the need for complex protective fences, which increase costs and reduce safety and efficiency.
Innovation Solution
A gripping device with a system control and sensor elements on the gripping jaws to detect relative movement and speed, initiating countermeasures to prevent slipping and eliminating the need for protective fences by optimizing movement sequences and applying additional securing forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If gripping devices move objects at high speeds with rapid movements, then productivity and processing speed are improved, but the risk of object slipping or being thrown out of the gripping device increases
Solution Approach 1:
The sensor elements are positioned on the gripping jaws to detect relative movement before the object can slip or be thrown out. This preliminary detection allows the control device to initiate countermeasures in advance, preventing the harmful effect while maintaining high gripping speeds
Solution Approach 2:
The sensor elements continuously monitor the position and movement of the gripped object, providing real-time feedback to the control device. This feedback mechanism enables dynamic adjustment of gripping forces and detection of slipping conditions, maintaining reliable grip at high speeds
2Object-affected harmful factors
If protective fences are constructed to secure processing areas and intercept thrown objects, then safety is improved, but device complexity and costs increase
Solution Approach 1:
Instead of using protective fences to intercept thrown objects, the invention converts the potential harm into a detectable signal. Sensor elements detect relative movement and slipping conditions, allowing the control device to initiate countermeasures that prevent objects from being thrown out in the first place, eliminating the need for protective fences
Solution Approach 2:
The invention extracts the safety function from the mechanical protective fence structure and transfers it to the sensor and control system. By detecting relative movement and initiating countermeasures, the system provides safety without requiring complex physical barriers
3Reliability
If sensor elements are arranged on gripping jaws to detect relative movement, then object grip reliability is improved, but device complexity increases
Solution Approach 1:
The sensor elements serve multiple functions: detecting relative movement, determining object position, and identifying slipping conditions. This multi-functionality reduces the need for separate detection systems, minimizing the increase in device complexity while maximizing reliability
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
The solution effectively reduces the risk of object slipping, increases processing speed and precision, enhances safety and quality, and eliminates the need for protective fences, thereby reducing costs and improving operational efficiency.
Implementation Method 1
at least one sensor element for detecting object data of the object to be moved and monitored, wherein the at least one sensor element is arranged on at least one gripping jaw with its sensor area facing the receiving space and is designed in such a way that a relative speed of the object with respect to at least one of the gripping jaws is detected by at least temporarily detecting the object data
Implementation Method 2
The gripping jaws of the gripping module are designed in such a way that by applying a predeterminable clamping force, at least a frictional connection between the gripping jaws and at least parts of the object is made possible, whereby the object is movable
Data Source
Figure 1
Figure 2a~2b
Figure 3a~3b
AI summary
The invention relates to a gripper device (1) and a method for monitoring the movement of objects (2), preferably metal sheets, comprising a system controller (3), which is designed for processing object data (31) and for controlling a gripper module (4), wherein the gripper module (4) has at least two gripper jaws (5) designed to cooperate with one another, which form a receiving space (6) therebetween for receiving at least parts of an object (2) to be monitored and to be transported, the gripper jaws (5) being designed in such a manner that by applying a predefinable clamping force (7) at least one frictional connection is made possible between the gripper jaws (5) and at least parts of the object (2), by means of which the object (2) can be moved, and at least one sensor element (8) for acquiring the object data (31) of the object (2) to be monitored and to be moved, wherein the at least one sensor element (8) is arranged on at least one gripper jaw (5) with the sensor region (9) thereof facing the receiving space (6) and is designed to detect a relative movement and/or relative speed (26) of the object (2) in respect of at least one of the gripper jaws (5) by at least intermittent acquisition of the object data (31).