Dual-Side Holding Apparatus for Flexible Object Grasping
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Solution Overview
Problem
Existing work machines lack a holding apparatus capable of efficiently holding objects from both the outside and inside with sufficient force, requiring significant posture changes and labor, and existing solutions are inflexible in adapting to the shape of the object.
Innovation Solution
A holding apparatus comprising a holding-apparatus body, first and second arms, an opening and closing mechanism, a driving device, and pivotable holding elements, allowing the arms to translate and adjust their interval to accommodate objects from either side while maintaining a holding posture, enabling flexible and strong grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a receiving member is used for both holding from the outside and holding from the inside, then versatility is improved, but operation complexity and time consumption increase due to great change in posture
Solution Approach 1:
The receiving member is divided into two distinct functional parts: an inner receiving portion for holding objects from the inside and an outer receiving portion for holding objects from the outside. Each portion has its own optimized structure and contact surfaces, eliminating the need to change the posture of a single universal component.
Solution Approach 2:
The inner and outer receiving portions can be independently positioned and adjusted along the receiving member, allowing dynamic adaptation to different holding requirements without requiring complex posture changes of the entire receiving member structure.
2Device complexity
If claws are configured to grip from the outside only, then structural simplicity is improved, but adaptability to different object shapes deteriorates
Solution Approach 1:
The receiving member is designed with dual functionality, incorporating both inner and outer receiving portions that can handle different object shapes and sizes. This multi-functional design allows a single component to perform multiple holding operations without requiring separate specialized tools.
Solution Approach 2:
The receiving member extends in multiple directions with both inner and outer receiving portions, adding spatial dimensionality to the holding capability. This allows the structure to accommodate objects from different orientations and positions while maintaining structural coherence.
3Stability of the object's composition
If arms are fixed in position, then structural stability is improved, but adaptability to different object positions deteriorates
Solution Approach 1:
The first and second arms are designed to be movable relative to each other along the receiving member, allowing dynamic adjustment of the arm interval. This enables the structure to adapt to different object positions and sizes while maintaining stability during the holding operation through controlled movement.
Data Source
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AI summary
Provided is a holding apparatus (10) capable of holding a holding object with sufficient holding force from either of the outside and the inside. The holding apparatus (10) includes a holding-apparatus body (30,40), a first and second arms (60A and 60B), an opening and closing mechanism (50), a driving device (70), and a first and second holding elements (90A and 90B). The opening and closing mechanism (50) interconnects each of the first and second arms (60A and 60B) and the holding apparatus main bodies (30, 40) so as to allow the first and second arms (60A and 60B) to be moved in the opening and closing direction while kept in the holding posture. The first and second holding elements (90A and 90B) is pivotably connected to the arm lower region (62), having respective inner contact surfaces (93a and 94a) opposed to each other in the opening and closing direction and respective outer contact surfaces (95a and 96a) facing the opposite side.