Integrated Gripper Controller for Fast Task Changeover
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Solution Overview
Problem
Existing gripping devices require significant interconnection and programming efforts to adapt to machine control, making them cumbersome to handle and adapt to various gripping tasks.
Innovation Solution
The gripping device is equipped with a pneumatic or hydraulic drive housing featuring position and pressure sensors, a data interface for point-to-point communication with a stationary control, a computer and memory module with application software, and a controller with position and pressure control capabilities, allowing for minimal interconnection and programming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a universal servo controller and programmable logic controller are used with shielded cables for connection, then reliable control is achieved, but the wiring complexity and programming effort increase significantly
Solution Approach 1:
The patent integrates the servo controller, PLC, and data interface directly into the gripping device housing, merging multiple separate control components into a single integrated unit. This eliminates the need for extensive external wiring and shielded cables, reducing wiring complexity while maintaining control reliability through internal connections.
Solution Approach 2:
The integrated controller performs multiple functions including servo control, PLC logic processing, and data communication interface, replacing the need for separate universal servo controller and PLC units. This multi-functional approach simplifies the overall system architecture and reduces the number of external connections required.
2Adaptability or versatility
If multiple separate control components are used, then control functionality is comprehensive, but the adaptation to various gripping tasks becomes cumbersome
Solution Approach 1:
By combining the servo controller, PLC, and application software into a single integrated controller within the gripping device, the system becomes easier to handle and adapt. The integrated unit can be easily reconfigured for different gripping tasks through software programming without requiring complex external wiring changes or multiple separate controller adjustments.
3Extent of automation
If external control components are used, then control capabilities are extensive, but the programming effort and specialized knowledge required increase
Solution Approach 1:
The integrated controller incorporates PLC logic, servo control, and application-specific software in one unit, providing extensive automation capabilities while simplifying programming. Users can program gripping tasks directly into the integrated controller without needing to coordinate multiple external controllers, reducing the need for specialized knowledge while maintaining comprehensive control functionality.
Data Source
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AI summary
The invention relates to a gripping device (5) for mechanically gripping workpieces by means of movable gripping arms (1, 2) which are driven by at least one pneumatic, hydraulic or electrical drive (120, 160) accommodated in the housing (10, 23). The drive is controlled by a programmable logic controller (PLC, 50) via a point-to-point communication data interface (86). A computer and storage module (87) for the application software of the gripping device and a servo controller (80), which has a closed cascade controller (81), the actuator for the drive motor (82) and an encoder interface (83), are also arranged in or on the housing (10, 23) of the gripping device. Position sensors (175), travel sensors (121), rotation sensors (125), pressure sensors (180) and/or a resolver are used. The servo controller (80) is programmed in the factory in such a manner that the machine operator does not require any special expertise to adjust the gripping device to the corresponding goods to be gripped or workpieces. In addition to the simple parameters, for example elasticity-dependent and grip-width-dependent gripping stroke or gripping force, gripping recipes are stored and can be called up by the machine operator for particular customer-specific goods to be gripped via the programmable logic controller (PLC, 50) using a number for the goods to be gripped. This makes it possible to quickly change over between two different known gripping tasks.