Multi-Position Gripper for Collision Avoidance in Stack Handling
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Solution Overview
Problem
Existing gripper devices struggle to securely grip and handle stacks of different formats, often leading to collisions with stacks, components, or personnel, and are less optimal when handling varying sheet sizes.
Innovation Solution
A device with a horizontally movable gripper and two actuators, allowing positioning in multiple horizontal positions, including an intermediate position, to securely grip and handle stacks of varying sizes, preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gripper is optimized for a specific format, then it can securely grip that format, but it works less optimally for other formats and may cause collisions
Solution Approach 1:
The gripper is made dynamically adjustable with multiple horizontal positions controlled by actuators, allowing it to adapt its configuration based on the stack format being handled. This dynamic adjustment enables the same gripper to securely handle different formats without causing collisions.
Solution Approach 2:
The gripper's horizontal position parameter is changed by introducing a second actuator that establishes additional horizontal positions. This parameter change allows the gripper to adjust its reach and positioning to match different stack formats, resolving the contradiction between optimized grip security and format adaptability.
2Adaptability or versatility
If the gripper extends fully to grip large stacks, then it can handle large formats, but it collides with stacks, components or persons when handling smaller formats
Solution Approach 1:
The gripper transitions from a static extension state to a dynamic multi-position state, allowing it to extend only as much as needed for each specific format. This dynamic control prevents over-extension and collisions with stacks, components, or persons when handling smaller formats.
Solution Approach 2:
The system performs preliminary positioning by selecting the appropriate horizontal position before gripping. The actuators position the gripper in advance at the correct horizontal location, preventing collisions during the gripping operation by ensuring the gripper is already in the optimal position.
3Device complexity
If a single actuator is used for gripper positioning, then the device is simpler, but it cannot establish multiple horizontal positions including intermediate positions
Solution Approach 1:
The positioning function is segmented into multiple actuators, with the first actuator handling basic positioning and the second actuator providing additional horizontal positions including intermediate positions. This segmentation allows for more precise and versatile positioning while maintaining manageable system complexity.
Data Source
AI summary
A gripping tool for raising and moving a stack of flat products lying on top of one another, such as folded products, is preferably a robot-guided gripping tool with a horizontally movable gripper for reaching under the stack. A first actuator positions the gripper in a first horizontal position or in a second horizontal position and a second actuator establishes a horizontal additional position, such as an intermediate position, for the gripper. The device can securely grip and handle stacks of different formats and to prevent collisions of the gripper, in particular gripper tines, with stacks, with other components, or with operating personnel. The device is suitable for use in the graphics industry and in particular in the environment of folding machines or their product delivery, where stacks of folded products lying on top of one another are stacked on pallets.