Vision-Guided Gripper for Unordered Elongated Fastener Picking
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Solution Overview
Problem
Existing tool magazines require manual loading of elongated fasteners, which is inefficient and prone to errors due to the need for precise orientation and positioning, especially when fasteners are disordered or tilted.
Innovation Solution
A device with a gripping mechanism featuring two elongate gripping elements and a controllable actuating mechanism, combined with a camera system and image evaluation for automated recognition and alignment of fasteners, allowing for precise gripping and orientation, and an optional mixing device to address tilting issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual loading of elongated fasteners is used, then the loading process is simple to implement, but the productivity is low and error-prone due to the need for precise orientation and positioning
Solution Approach 1:
The system uses camera-based automatic detection to identify fastener position and orientation, with the control device automatically calculating gripping parameters and controlling the gripping device to pick and place fasteners. This eliminates the need for manual loading while maintaining simplicity through automated self-service operation.
Solution Approach 2:
The patent replaces manual mechanical loading with an automated system combining optical detection (camera), image evaluation algorithms, and controlled mechanical gripping. The camera system detects fastener characteristics, and the control device translates this into automated gripping actions, substituting human operation with sensor-based control.
2Productivity
If automated gripping is implemented, then the productivity increases, but the reliability decreases when fasteners are disordered or tilted in the store
Solution Approach 1:
The camera system performs preliminary detection of fastener position and orientation before the gripping action. The image evaluation device pre-calculates the optimal gripping parameters based on detected fastener characteristics, allowing the system to adapt to disordered or tilted fasteners before the actual gripping occurs, ensuring reliable operation regardless of initial fastener arrangement.
Solution Approach 2:
The gripping device parameters are dynamically adjusted based on real-time image evaluation results. The control device modifies gripping position, orientation, and force parameters according to the detected fastener state, enabling the system to handle various fastener arrangements (ordered, disordered, tilted) with consistent reliability.
3Manufacturing precision
If the gripping device is designed for precise positioning, then the manufacturing precision is high, but the ease of operation is reduced due to complex alignment requirements
Solution Approach 1:
The camera system continuously monitors fastener position and orientation, providing feedback to the control device. The control device uses this feedback to automatically calculate and adjust gripping parameters, eliminating the need for manual alignment while achieving high positioning precision through closed-loop control.
Solution Approach 2:
The gripping device is designed with universal adaptability to handle different fastener types, positions, and orientations through automated control. The system performs multiple functions (detection, calculation, positioning, gripping) through an integrated control device, simplifying operation while maintaining precision across various scenarios.
Data Source
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AI summary
The present invention relates to a device for gripping elongated fasteners from a disordered storage area. The device comprises a gripping device with two elongated gripping elements (1), an actuating mechanism for the automated actuation of the two gripping elements (1), a camera system, an image evaluation device (309) for detecting the position and orientation of the elongated fasteners in the disordered storage area, a control device with control means for controlling a positioning unit for the gripping device, and control means for the actuating mechanism for the automated actuation of the two gripping elements (1) to control the opening and closing of the two gripping elements (1) depending on the detected position and orientation of the elongated fasteners in the disordered storage area. The two gripping elements (1) can be opened and closed via the actuating mechanism.The two gripping elements (1) each have a gripping area (3) such that these two gripping areas (3) move towards each other when the two gripping elements (1) are closed, so that in the closed position they grip an elongated fastening element (4) located in the gripping area (3) in a force-fit manner. The two gripping elements (1) each have a release surface (6) such that the front edge of the gripping element (1) is formed by the line of contact between the gripping area (3) and the release surface (6). The two gripping elements (1) are further shaped as follows. The gripping areas (3) have a semicircular recess (4) in the region of the front end of the respective gripping element (1), the longitudinal axis of the semicircular recess (4) being oriented perpendicular to the longitudinal direction of the gripping element (1).Starting from the front edge of the gripping element (1), the release surface (6) extends continuously and differently such that the release surface (6) is inclined away from the gripping area (3) of the gripping element (1).