Elastic Gripping Device with Shape Holding Portion
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Solution Overview
Problem
Existing gripping devices, such as those using suction hands and five-finger grippers, face challenges in versatilely gripping workpieces of different sizes and shapes, particularly soft workpieces like food, which can be damaged due to the need for strong force and the instability of granular materials used in bag-based systems.
Innovation Solution
A gripping device with a shape holding portion that prevents contraction of the outer periphery of the palm portion, allowing it to deform in thickness direction and gently grip workpieces, eliminating the need for granular materials by using an elastic gripping body with a shape holding portion that includes a curved portion to ensure continuous deformation of finger portions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a suction hand or two-finger gripper is used, then the mechanism is simple, but it cannot versatilely grip workpieces of different sizes or shapes
Solution Approach 1:
The patent uses a flexible gripping body made of elastic material that can deform to accommodate different workpiece shapes and sizes. The gripping body includes finger portions that bend and conform to the workpiece surface, providing universal adaptability without complex mechanisms.
Solution Approach 2:
The gripping device employs a dynamic structure where the gripping body and finger portions can change shape during operation. The elastic material allows the gripper to adapt its configuration based on the workpiece being held, enabling versatility through dynamic deformation rather than fixed mechanical structures.
2Adaptability or versatility
If a five-finger gripping device with human hand mechanism is used, then it can grip various workpieces, but the movement and control mechanism becomes very complex
Solution Approach 1:
The patent replaces complex mechanical finger mechanisms with a flexible elastic gripping body that naturally deforms to grip workpieces. This eliminates the need for complex movement and control mechanisms while maintaining the ability to handle various workpiece types.
Solution Approach 2:
The elastic gripping body automatically deforms and conforms to the workpiece shape through its own elastic properties when force is applied, without requiring complex control systems. The material self-adjusts to provide appropriate grip, simplifying the control mechanism.
3Adaptability or versatility
If a gripping device with rubber bag and granular materials is used, then it can accommodate various workpieces with simple control, but it needs strong pressing force that may damage soft workpieces
Solution Approach 1:
The patent changes the material parameter from granular materials to a continuous elastic material. This parameter change allows the gripping body to deform smoothly and conform to soft workpiece surfaces without the need for strong pressing forces, eliminating damage while maintaining versatility.
Solution Approach 2:
The gripping body is made of elastic material that combines flexibility with structural integrity. This composite approach allows the gripper to be soft enough for delicate workpieces while maintaining enough strength for versatile handling of different workpiece types.
4Adaptability or versatility
If granular materials are used in the rubber bag, then it can grip various workpieces, but the granular materials scatter and contaminate the workpiece when the bag bursts
Solution Approach 1:
The patent extracts and removes the granular materials from the system, replacing them with a continuous elastic gripping body material. This elimination of granular materials prevents scattering and contamination while preserving the gripping functionality for various workpieces.
5Object-affected harmful factors
If the rubber bag is pressed against the workpiece with weak force, then it prevents damage to soft workpieces, but the followability of the rubber bag to the workpiece is significantly reduced
Solution Approach 1:
The patent changes the material properties of the gripping body to optimize the balance between softness and followability. The elastic material parameters are selected to provide sufficient compliance for soft workpieces while maintaining adequate followability through controlled deformation characteristics.
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 device reliably grips workpieces without damaging them, maintaining grip stability even if the gripping body bursts, and allows for versatile handling of various workpiece sizes and shapes without contamination, including soft materials like food.
Implementation Method 1
the elastic portion 34 deforms in a thickness direction when a force is applied to the palm portion 30 in the thickness direction, and the inner surface 31 of each finger portion 32 is pulled toward a center of the palm portion 30, so that the finger portion 32 is elastically deformed to fall toward the palm portion 30
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
There is provided a gripping device and an industrial robot that can more reliably grip a workpiece without using granular materials. The gripping device includes: a bag-shaped gripping body 28A including a palm portion 30, and a plurality of finger portions 32 protruding from a periphery of the palm portion 30 and configured to fall toward the palm portion 30 by deforming the palm portion 30 in a thickness direction; elastic portions 34 respectively provided in the finger portions 32, each of the elastic portions 34 having a shape of the finger portion 32; and a shape holding portion 38 that is provided in the gripping body 28A and prevents contraction of an outer periphery of the palm portion 30. The shape holding portion 38 includes a guide bore 40 that receives the deformed palm portion 30, and a curved portion 49 provided on an outer side of a distal end in an axial direction of the guide bore 40 and facing the finger portions 32.