Sensorized Gripping Jaws for Relative Movement Detection
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Solution Overview
Problem
Existing gripping devices for sheet metals face challenges in recognizing undesirable relative movements and velocities during processing, leading to potential ejection and safety concerns, and require complex and costly safety fences to prevent accidents.
Innovation Solution
A gripping device with a system control and sensor elements that monitor movement and object data, allowing for the detection of relative velocities and initiation of countermeasures to prevent object shifting, and eliminating the need for safety fences by using a multiaxial manipulator and securing means to ensure secure gripping and movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If high gripping and movement velocities are used, then productivity is improved, but the object may shift or be ejected from the gripping device
Solution Approach 1:
The sensor elements are positioned to detect relative movements before the object can be ejected, and the control device initiates countermeasures in advance to prevent ejection. This preliminary detection and response mechanism allows high velocities to be maintained while preventing the harmful outcome of object ejection.
2Reliability
If safety fences are installed to prevent object ejection, then safety is improved, but device complexity and cost increase
Solution Approach 1:
The mechanical safety fence system is replaced with a sensor-based monitoring and control system. Sensor elements detect relative movements, and the control device activates countermeasures such as adjusting gripping forces or activating securing means, eliminating the need for complex mechanical safety fences while maintaining safety.
Solution Approach 2:
The gripping device monitors its own operation through sensor elements that detect relative movements of the object. The control device automatically initiates countermeasures when deviations are detected, allowing the system to self-regulate and prevent object ejection without external safety infrastructure.
3Reliability
If sensor elements and monitoring systems are added to detect relative movements, then object stability is improved, but device complexity increases
Solution Approach 1:
The sensor elements serve multiple functions: detecting relative movements, monitoring object position, and providing feedback for control adjustments. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in device complexity while achieving reliable detection.
Data Source
AI summary
The invention relates to a gripping device (1) and a method for the monitored movement of objects (2), preferably sheet metals, comprising a system control (3) configured for processing object data (31) and controlling a gripping module (4), wherein the gripping module (4) has at least two gripping jaws (5) formed to cooperate with one another, which form an intermediate receiving space (6) for receiving at least parts of an object (2) to be monitored and transported, and the gripping jaws (5) are formed such that, by applying a pre-definable clamping force (7), at least a friction-type connection between the gripping jaws (5) and at least parts of the object (2) is made possible, whereby the object (2) is movable, and at least one sensor element (8) for collecting object data (31) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is arranged on at least one gripping jaw (5) with its sensor region (9) facing the receiving space (6), and is formed such that it detects, by means of at least temporary collection of the object data (31), a relative movement and/or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5).