Electric Gripper Length Minimization via Segmented Actuators
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Solution Overview
Problem
Two-fingered electric grippers with four-section links occupy excessive space due to increased length when fingers are moved simultaneously, limiting workspace and work direction when connected to robots, necessitating an improved coupling relationship between the actuator and clamper modules to facilitate easier assembly, disassembly, and secure the robot's workspace.
Innovation Solution
The electric gripping device features a two-fingered four-section link mechanism with specifically angled and positioned links to minimize length, allowing for parallel operation of the actuator and finger link units, reducing interference and enabling easy assembly and disassembly, with a fastening structure that allows direct power transmission and secure attachment to robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If two fingers are moved simultaneously using one motor with four-section links, then the gripping distance is increased, but the length of the gripper increases occupying excessive space
Solution Approach 1:
The gripper is divided into independent finger units, each with its own actuator module. The first finger link unit and second finger link unit operate independently with separate first and second actuator modules, eliminating the need for long four-section links while maintaining gripping distance. Each finger can be controlled separately, achieving the desired gripping range without increasing overall gripper length.
Solution Approach 2:
The patent changes the actuation mechanism from a single motor driving both fingers through long links to separate actuator modules positioned at the base of each finger. This dimensional reorganization places actuators in parallel rather than series, reducing the length requirement while preserving the gripping function.
2Length of moving object
If the gripper length is minimized for better workspace management, then the coupling relationship between actuator and clamper modules must be improved, but this increases assembly complexity
Solution Approach 1:
The actuator module and clamper module use standardized coupling structures with matching connection interfaces. The coupling unit includes a coupling protrusion and coupling recess that can be universally applied to both finger units, simplifying assembly despite the minimized gripper length. This universal coupling design allows easy assembly and disassembly while maintaining compact dimensions.
3Ease of operation
If separate actuator modules are used for each finger, then the coupling structure becomes more complex, but assembly and disassembly become easier
Solution Approach 1:
The coupling structure is segmented into modular components: a coupling protrusion on the actuator module and a matching coupling recess on the clamper module. This segmentation allows each module to be independently assembled and disassembled without affecting the other finger units, simplifying maintenance and assembly despite the presence of multiple actuator modules.
Data Source
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AI summary
An embodiment of the present invention to provide an electric gripping device that improves a coupling relationship between a two-fingered clamper module using a four-joint link and the actuator module to facilitate assembling and disassembling of the actuator module and the clamper module and minimizes a length of the electric gripper to easily secure a robot's work space or work direction when being connected to the robot.