Limp Material Handling Machine with Active In-Plane Displacement
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Solution Overview
Problem
Handling limp materials, such as textiles or paper, is challenging due to their undefined shape, making it difficult for automated systems to grip and manipulate them effectively.
Innovation Solution
A machine equipped with at least two gripping devices connected to a drive system, where one gripping device is a manipulator with a displacement mechanism that allows active displacement of the limp material within a plane, and sensors to detect the material and guide its movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional grippers are used to handle limp material, then the grippers can engage the material at two points, but the material cannot be actively positioned or shaped within the gripper
Solution Approach 1:
The gripper incorporates a displacement mechanism with movable pressing elements that can actively displace the limp material within the gripper volume. This dynamic capability allows the material to be positioned and shaped according to processing requirements, transforming a static gripper into an active positioning device that resolves the contradiction between handling capability and structural complexity.
2Manufacturing precision
If the limp material is allowed to slide within the gripper under traction force, then the material can be moved passively, but precise positioning and contour following are not achieved
Solution Approach 1:
The system incorporates sensors that detect the position and contour of the limp material, providing feedback to the control system. This feedback enables the displacement mechanism to actively adjust the pressing elements and achieve precise positioning and contour following, transforming passive sliding into an actively controlled positioning process.
Solution Approach 2:
The displacement mechanism uses the geometry of the pressing elements and the natural sliding tendency of the limp material to achieve positioning. The mechanism leverages the material's own properties and the mechanical geometry to accomplish precise positioning with minimal active intervention, combining automation with the material's inherent characteristics.
3Shape
If a single gripper is used, then the structure is simple, but the ability to bring material into defined shape is limited
Solution Approach 1:
The gripper is divided into multiple independent pressing elements that can be individually controlled by the displacement mechanism. This segmentation allows different portions of the limp material to be positioned and shaped independently, enabling complex material configurations to be achieved within a single gripper structure without requiring multiple separate gripping devices.
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 machine can effectively bring limp materials into a defined shape or position, enabling precise handling and processing by actively controlling the sliding movement and contour following of the material.
Implementation Method 1
A wheel is particularly suitable for generating a sliding movement of the limp material with respect to the base part
Implementation Method 2
The omniwheel can make the limp material slide with respect to the base part in a direction which is tangentially with respect to the omniwheel while at the same time allowing a low friction displacement in a direction which is parallel to the axis of rotation of the omniwheel
Implementation Method 3
In order to increase the friction between the wheel and the limp material, a guiding groove associated with the displacement wheel can be provided in the pressing part
Data Source
AI summary
A machine for handling limp materials has at least a first and a second gripping device adapted for gripping the same piece of limp material at the same time. At least one of the gripping devices is connected to a drive system adapted for displacing the gripping devices with respect to each other. One of the gripping devices is a manipulator having a displacement mechanism adapted for actively displacing the limp material in a direction which is generally within a plane in which the limp material is held in the manipulator. The machine further has at least one sensor adapted for detecting the limp material and/or regions of interest.