Pivotable Sheet-Stack Gripper for Friction-Controlled Deposition
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Solution Overview
Problem
Existing grippers used for depositing sheet material, particularly value documents, often result in misalignment due to frictional forces, leading to dispensing errors in self-service devices, necessitating manual loading which is time and labor-intensive.
Innovation Solution
A gripper design with pivotable gripping elements that allow for precise positioning by pivoting out of the gripping position to utilize gravitational force for accurate deposition, using adjustable contact surfaces and controlled movement to minimize frictional interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the gripper pulls out laterally from the stack, then the deposition process can be completed, but frictional forces cause sheet material to move and misalign
Solution Approach 1:
The gripper performs preliminary action by holding the stack in a controlled manner before deposition, with the first gripping element positioned to prevent lateral movement. The stack is prepared in advance with the bottom sheet's long side extending beyond the gripper's contact area, creating a stable configuration that prevents friction-induced misalignment during the subsequent withdrawal motion.
Solution Approach 2:
The first gripping element acts as an intermediary between the stack and the withdrawal motion. By positioning this element specifically and allowing it to pivot during withdrawal, it mediates the interaction between the gripper and stack, preventing direct frictional contact that would cause misalignment while still enabling controlled deposition.
2Stability of the object's composition
If frictional forces are increased to hold the stack, then the stack remains stable during gripping, but the stack cannot be deposited precisely
Solution Approach 1:
The invention applies local quality by differentiating the function of the two gripping elements: the first gripping element provides localized support at the bottom of the stack with minimal friction, while the second gripping element provides the necessary holding force. This localized approach allows stable gripping without excessive friction that would prevent precise deposition.
Solution Approach 2:
The first gripping element is designed to pivot dynamically during the deposition process. This dynamic capability allows the system to adapt to frictional forces while maintaining control, enabling the stack to be held stably during gripping but released precisely during deposition without manual intervention.
3Manufacturing precision
If manual loading is used, then alignment precision is maintained, but time and labor consumption increase
Solution Approach 1:
The system achieves self-service by enabling automated deposition with precise alignment through the specially designed gripper configuration. The stack is self-aligning during the deposition process due to the geometric arrangement of the gripping elements and the pivot mechanism, eliminating the need for manual loading while maintaining precision and reducing time consumption.
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
Enables precise and automated deposition of sheet material, reducing misalignment issues and eliminating the need for manual loading, thereby enhancing the efficiency of self-service devices.
Implementation Method 1
pivoting out of the gripping position to utilize gravitational force for accurate deposition
Data Source
AI summary
A gripper is for holding and depositing a stack of sheet material at a depositing location, and has at least one first gripping element, which comprises or forms a first contact surface for contact with the stack, and at least one second gripping element, which includes a second contact surface for contact with the stack. The first and second contact surfaces are designed for contact with the stack on both sides. The gripping elements are guided adjustably with respect to one another so that the contact surfaces can be moved with respect to one another in the direction of the surface normals that are respectively associated with the contact surfaces to hold the stack between the contact surfaces. The first gripping element is mounted to pivot about a pivot axis so it can pivot between a gripping position, and a release position.