Gripping Device with Counterweight and Force Limiting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic gripping devices for handling small items like Petri dishes suffer from structural inefficiencies, excessive clamping force, and mechanical strain, which can damage fragile items and complicate the robotic arm's operation.
Innovation Solution
A gripping device with interconnected, dependent movement of first and second gripping arms and a clamping limitation mechanism, utilizing a straight-line drive mechanism and interconnection mechanisms like cogwheels, levers, or pulleys to ensure synchronized motion and limit clamping force through resilient members and sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a clamp gripper is applied to a robotic arm in an incubator, then the gripping function is achieved, but the cantilevered mass exerts significant moment at the base of the robotic arm
Solution Approach 1:
The patent employs a counterbalancing mechanism where a counterweight is positioned to offset the cantilevered mass of the gripping device. This counterweight creates an opposing moment that balances the load on the robotic arm base, reducing the net moment and improving system stability without compromising the gripping function.
2Device complexity
If parallel arms are used for gripping, then the structure is efficient and streamlined, but excessive clamping force may be applied to fragile items
Solution Approach 1:
The patent incorporates a force control mechanism that dynamically adjusts the clamping force parameter. Sensors detect the presence and fragility of the held object, and the control system modulates the actuator output to maintain optimal clamping force, preventing damage to fragile items while preserving the streamlined parallel arm structure.
Solution Approach 2:
The patent implements a feedback loop where force sensors monitor the clamping force in real-time. This feedback information is fed back to the control system, which adjusts the actuator commands to maintain the clamping force within safe limits, thereby preventing excessive force application to fragile objects.
3Measurement precision
If strain gauges are used for monitoring clamping force, then force monitoring is achieved, but the gripping operation becomes slower
Solution Approach 1:
The patent pre-calibrates the force monitoring system during setup, establishing force thresholds and response parameters in advance. This preliminary configuration allows the system to use pre-programmed response curves rather than performing complex real-time calculations, thereby maintaining accurate force monitoring while significantly reducing operational delays.
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 enables efficient, streamlined gripping of fragile items of various diameters with controlled clamping force, reducing mechanical strain and operational clutter, allowing for rapid and precise handling while preventing damage to seized items.
Implementation Method 1
A resilient member, such as a compression spring, that receives force from the drive system. The distortion of the resilient member can be measured and that measurement exploited to limit the clamping force applied.
Implementation Method 2
an optical sensor that interacts with at least one detectable member to measure the distortion of the resilient member
Data Source
AI summary
A gripping device with linear actuation for a robotic arm for seizing and gripping Petri dishes and other light items. The gripping device has a support and first and second gripping arms slidably retained relative to the support by guide rods. A motorized drive mechanism actuates the gripping arms through an operating member that acts only on the first gripping arm. Through an interconnection mechanism, movement of the first gripping arm actuates a simultaneous and dependent opposite movement of the second gripping arm so that the gripping arms are movable between a slack position and a clamping position. The operating member acts on the first gripping arm through a resiliently compressible member, the distortion of which is measured to provide a clamping limitation mechanism.