Elastic Robot Hand for Damage-Free Rotation and Hole Insertion

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Solution Overview

Problem

Existing robot hands struggle to grip workpieces without damaging them and have limited service life, especially when rotating and inserting workpieces into holes, due to inadequate protection against reaction forces and friction.

Innovation Solution

A robot hand design featuring a first hand section, a second hand section connected via an elastic member, and a movement restricting mechanism that allows elastic displacement while preventing excessive rotation and translation movements, thereby absorbing reaction forces and reducing wear and tear.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If a robot hand grips a workpiece using a rigid structure, then the gripping force is strong and stable, but the workpiece may be damaged and the robot hand has limited service life due to reaction forces and friction

Engineering Contradiction:

Improvegripping forceVSAvoidworkpiece damage

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The patent introduces an elastic member (spring) between the first and second hand sections to provide beforehand cushioning. This elastic member absorbs reaction forces and friction during gripping and insertion operations, preventing workpiece damage while maintaining gripping strength. The spring acts as a pre-configured protective element that mitigates harmful forces before they can damage the workpiece or robot hand.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The patent changes the rigidity parameter of the robot hand structure by introducing an elastic member. This allows the hand sections to have relative movement capability, transforming the system from a completely rigid structure to one with controlled flexibility. The elastic member enables the structure to adapt its stiffness dynamically during different operation phases.

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If a robot hand allows free rotation of the second hand section, then the robot hand can adapt to different workpiece orientations, but the workpiece may be damaged during rotation and insertion operations

Engineering Contradiction:

Improverotation adaptabilityVSAvoidworkpiece damage during rotation

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The patent implements a dynamic structure where the second hand section can rotate relative to the first hand section through the elastic member. This dynamic capability allows the robot hand to adapt to different workpiece orientations while the elastic member controls the rotation to prevent excessive forces that could damage the workpiece during insertion operations.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The elastic member provides beforehand cushioning during rotation and insertion by absorbing reaction forces. This prevents workpiece damage while maintaining the adaptability needed for different orientations.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Object-affected harmful factors

If a robot hand uses additional force sensors to prevent workpiece damage, then the workpiece protection is improved, but the device complexity and manufacturing cost increase

Engineering Contradiction:

Improveworkpiece damage protectionVSAvoidsensor system complexity

Core Design Contradiction:

Object-affected harmful factorsVSDevice complexity

Solution Approach 1:

The patent implements a self-service protection mechanism where the elastic member automatically absorbs reaction forces and protects the workpiece without requiring external force sensors. The elastic member serves itself to detect and mitigate harmful forces through its physical deformation, eliminating the need for complex sensing and control systems.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The elastic member acts as an intermediary between the robot hand and the workpiece, mediating the interaction forces. It physically absorbs and buffers reaction forces during gripping and insertion, serving as a passive but effective protective intermediary that replaces the need for active force sensing and control.

Inventive Principle:

Principle #24Intermediary (Mediator)

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

This design effectively prevents workpiece damage during gripping and insertion, extends the service life of the robot hand by absorbing reaction forces, and allows precise rotation and insertion without the need for additional force sensors, reducing manufacturing costs.

Implementation Method 1

an elastic member (56) that connects the first hand section (52) and the second hand section (53) to each other in an elastically displaceable manner

Methodology Applied

Scientific EffectElasticity: Elasticity

Data Source

PatentUS11090817B2Robot hand, robot and robot system capable of gripping workpiece, and method of rotating and inserting workpiece into hole

Publication Date: 2021.08.17 FANUC LTD

AI summary

A robot hand capable of rotating and inserting a workpiece into a hole, while preventing a workpiece from being damaged when the workpiece is gripped. The robot hand includes a first hand section, a second hand section provided with a workpiece gripping section capable of gripping a workpiece, an elastic member configured to connect the first hand section and the second hand section in an elastically displaceable manner, and a movement restricting mechanism configured to releasably restrict a rotation movement of an elastic displacement of the second hand section with respect to the first hand section.