Flexible Suction Robot Hand for Narrow-Space Object Holding

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Solution Overview

Problem

Existing robot hand apparatuses face difficulties in picking up objects from narrow spaces and reliably holding them, especially when external forces are applied, due to limitations in posture adjustment and interference with storage shelves or package boxes.

Innovation Solution

A robot hand apparatus featuring a first holder with a bendable sucking surface and a second holder, along with a driving mechanism that adjusts the distance between them, allowing for flexible object pickup and secure holding in confined spaces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the pair of hands expands at 180° or more to pick up objects, then the object can be picked up by sucking, but the hands interfere with storage shelves or package boxes in narrow spaces

Engineering Contradiction:

Improveobject pickup capabilityVSAvoidposture adjustment flexibility

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The robot hand apparatus transitions from a static 180° expanded posture to a dynamic configuration where the rotary section enables continuous posture adjustment. The driving mechanism allows the hand to adapt its shape and orientation dynamically, converting it into a long rod-like shape that can be inserted into narrow spaces without interference.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The invention introduces a new degree of freedom by adding a rotary section that enables rotation around the longitudinal axis of the hand. This dimensional change allows the hand to orient itself in different directions and angles, transforming it from a fixed planar structure to a three-dimensionally adaptable tool that can navigate complex spatial constraints.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Reliability

If the sucking position is determined with rotary sections at the end of the object, then the object can be sandwiched reliably, but the hand cannot freely determine sucking position or change posture in narrow spaces

Engineering Contradiction:

Improveobject holding stabilityVSAvoidsucking position flexibility

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The rotary section provides dynamic posture adjustment capability, allowing the hand to freely determine sucking positions and change orientations according to the object's location and shape. This dynamic adaptability enables the hand to achieve reliable sandwiching in various configurations without being constrained to fixed rotary section positions.

Inventive Principle:

Principle #15Dynamics

3Ease of operation

If only sucking is used to hold the object, then the hand can pick up the object easily, but the object may be dropped when external force is applied

Engineering Contradiction:

Improveobject pickup easeVSAvoidobject holding reliability under external force

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The invention merges two holding mechanisms: sucking and sandwiching. The hand first picks up the object using sucking through the sucking pads, then transitions to sandwiching by moving the second holder to contact the object. This combination provides both easy pickup and reliable holding under external forces, as the sandwiching mechanism prevents the object from being dropped while maintaining the simplicity of the initial sucking-based pickup.

Inventive Principle:

Principle #5Merging (Combining)

4Reliability

If the hand is inserted at increased distance to sandwich the object from the beginning, then the object can be picked up by sandwiching, but the hand cannot freely change posture or determine sucking position in narrow spaces

Engineering Contradiction:

Improveobject pickup stabilityVSAvoidposture adjustment freedom

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The rotary section enables dynamic posture adjustment during the pickup process. The hand can initially be inserted in a compact configuration, then rotate and reposition itself to achieve the optimal sandwiching posture. This dynamic adaptability allows the hand to freely change posture and determine sucking positions while maintaining reliable object pickup through sandwiching.

Inventive Principle:

Principle #15Dynamics

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

Enables easy pickup and reliable holding of objects in narrow spaces, preventing interference with storage shelves or package boxes, and maintaining object stability under external forces.

Implementation Method 1

a first sucking surface that is bendable at any position and that sucks an object using negative pressure

Methodology Applied

Scientific EffectNegative pressure: Vacuum

Data Source

PatentUS10946534B2Robot hand apparatus, robot hand system, and holding method

Publication Date: 2021.03.16 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD

AI summary

A robot hand apparatus includes a first holder having a first sucking surface that is bendable at any position and configured to suck an object using negative pressure; a second holder arranged to oppose the first sucking surface of the first holder; and a driving mechanism configured to change a distance between the first holder and the second holder to sandwich the object between the first holder and the second holder.