Universal Washer Gripper With Force-Limited High-Speed Handling
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Solution Overview
Problem
Current washer handling systems in high-speed watchmaking manufacturing are unable to efficiently handle washers of varied dimensions and materials due to high inertia and slowness, limiting their versatility and compatibility with rapid production changes.
Innovation Solution
A universal gripper with radially mobile jaws around a main axis, integrated into a robot arm, capable of adapting to different washer sizes and thicknesses, ensuring constant force and quick adaptation, utilizing electric controls and adjustable support plates for precise handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If large manipulators are used to handle washers, then they can provide sufficient force, but they have high inertia and slowness that are incompatible with high handling rates
Solution Approach 1:
The system is divided into two functional parts: a lightweight gripper for high-speed washing operations and a separate robot manipulator for positioning. The gripper itself is made compact with low inertia components, allowing rapid opening and closing cycles while the robot provides the necessary positioning capability.
Solution Approach 2:
The gripper incorporates a dynamic design where the support plate can move axially along the main axis to adapt to different washer thicknesses. This dynamic adjustment capability allows the same gripper to handle various washer dimensions without sacrificing speed, maintaining high handling rates while adapting to different workpieces.
2Speed
If manipulators are designed for high handling rates, then speed is improved, but they lack versatility for instantaneous product changes and varied washer dimensions
Solution Approach 1:
The gripper is designed as a universal device that can handle multiple types of washers with varying diameters and thicknesses. The support plate's axial movement capability allows it to accommodate different washer thicknesses, while the radial positioning of jaws can adapt to different diameters, providing versatility without requiring multiple specialized grippers.
Solution Approach 2:
The dynamic axial movement of the support plate enables instantaneous adaptation to different washer thicknesses during operation. This dynamic adjustment, combined with the radial positioning mechanism, allows the gripper to quickly switch between different washer specifications without lengthy setup changes, maintaining high handling rates while improving versatility.
3Adaptability or versatility
If setup time is reduced for production changeover, then adaptability is improved, but the complexity of the handling system increases
Solution Approach 1:
The dynamic axial movement of the support plate provides adaptability to different washer thicknesses through a relatively simple mechanism. This dynamic feature, combined with the radial jaw positioning, achieves versatility without requiring complex reconfiguration systems, keeping the overall device complexity manageable while enabling instantaneous product changes.
Data Source
Figure 1~5
Figure 6~8
AI summary
Universal gripper (1) for watch washers, comprising a gripper (2) with jaws (3) movable radially concentrically around an axis (D) and projecting from a support plate (4) movable along the direction of said axis (D), each jaw (3) having a radial surface (5) for radial support on the edge of a washer, the support plate (4) having an axial surface (41) for axial support of a washer, this gripper (1) has axial means for operating the support plate (4) to hold it on a mount with a calibrated force less than or equal to 300 N, which are combined with a force sensor along the axis (D) which is arranged to measure the tensile and/or compressive force, and compare it to the calibrated force or to the value of 300 N.