Spool Gripper Center Detection via Linear Sensor Array
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Solution Overview
Problem
Existing spool handling technologies in industrial environments face challenges with expensive equipment and slow determination of spool center location, requiring costly camera systems and time-consuming methods, which hinder efficient and reliable automated spool gripping and handling.
Innovation Solution
A gripper system equipped with a driveable clamp and a scanning system using multiple equidistant sensors to detect the presence or absence of a spool, allowing for fast and reliable identification and gripping of spools, particularly suitable for industrial environments, where the sensors emit a collimated light beam to detect the spool's circular grip part and calculate its center position efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera vision systems are used to find the position of a spool, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex optical camera systems with a simpler sensor-based detection system. The sensor device detects transition points on the spool surface, and through mathematical calculation, determines the spool center position. This substitutes expensive CCD cameras and complex image processing with simpler sensors and algorithms, resolving the contradiction between measurement precision and device complexity.
Solution Approach 2:
The patent creates a simplified mathematical model (copy) of the spool geometry to determine its position. Instead of using complex optical imaging, the system detects transition points and calculates the center position through mathematical relationships. This mathematical copy approach achieves accurate position determination without requiring expensive camera equipment.
2Measurement precision
If meandering laser path is used to find the centre of a hole, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent performs preliminary detection of transition points across the spool surface before calculating the center position. By detecting multiple transition points in advance and using mathematical calculations to determine the center, the system avoids time-consuming meandering laser paths. The preliminary detection and calculation approach significantly reduces determination time while maintaining precision.
Solution Approach 2:
The patent skips the time-consuming meandering laser path approach by directly scanning across the spool surface to detect transition points. The system rushes through the detection process by using a linear sensor array that simultaneously captures information across the spool width, then quickly calculates the center position through mathematical relationships, eliminating the need for slow sequential scanning.
3Measurement precision
If multiple orthogonal line scans are performed to find the centre of a hole, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent merges multiple detection operations into a single linear scan. Instead of performing multiple orthogonal line scans sequentially, the system uses a linear sensor array that detects transition points across the entire spool surface in one scanning motion. This merged approach maintains the precision of multiple measurements while eliminating the time penalty of sequential scanning.
Solution Approach 2:
The patent performs preliminary detection of all necessary transition points in a single scan before calculating the center position. By collecting all measurement data in advance through one scanning operation and then performing mathematical calculations, the system achieves high precision without the time loss associated with multiple sequential scans.
4Measurement precision
If expensive CCD cameras are used for spool detection, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces expensive CCD camera systems with simpler optical sensors. The sensor device detects transition points on the spool surface, and through mathematical calculation, determines the spool center position. This substitution resolves the contradiction by achieving accurate detection with less complex and more cost-effective equipment.
Solution Approach 2:
The patent creates a simplified mathematical representation of the spool based on transition point detection. Instead of using complex camera imaging, the system uses mathematical relationships between detected transition points to calculate the center position. This mathematical copying approach achieves the same measurement precision as expensive camera systems but with much simpler equipment.
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 gripper system enables fast, reliable, and cost-effective spool handling by minimizing equipment costs and reducing the time required to locate and clamp spools, improving handling efficiency in complex industrial settings.
Implementation Method 1
the sensors emit a collimated light beam to detect the spool's circular grip part and calculate its center position efficiently
Data Source
AI summary
A gripper for finding, clamping and releasing spools having a circular grip part such as a flange or a bore hole as well as a method to operate such gripper. The gripper has a driveable clamp that is provided with a scanning system comprising ‘presence-absence detectors’ that detect the presence or the absence of the circular grip part. The gripper is slowly moved over the flange of the spool and by means of the detectors and some calculation the centre of the grip part is identified followed by the gripping of the spool. The gripper has the advantage that no back-and-forth movement is needed in order to locate the circular grip part and that the superfluous motion of the gripper is prevented.