Flexible Workpiece Holding with Length-Based Straightening Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing holding devices for flexible workpieces, such as the one described in PTL 1, do not effectively set the workpiece to a reference state that is not bent after holding, which can lead to improper handling and processing.
Innovation Solution
A holding device comprising a first and second holding mechanism, a detector, storage, and a controller that moves the holding mechanisms based on the detected length of the workpiece in the held state and the prestored length in the reference state to set the workpiece to a straight position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the holding device holds a flexible workpiece using a suction component and expansion-contraction component, then the workpiece can be held securely, but the workpiece remains in a bent state and cannot be set to a reference straight state
Solution Approach 1:
The patent employs dynamic adjustment of the expansion-contraction component to transition the workpiece from a bent held state to a straight reference state. The component can randomly expand or contract based on control signals, enabling the workpiece shape to be dynamically adjusted while maintaining secure holding throughout the process.
Solution Approach 2:
The patent changes the physical state parameters of the workpiece by controlling the expansion and contraction of the elastic component. By adjusting the degree of expansion/contraction, the workpiece transitions between bent and straight states, allowing it to be set to a reference straight state while maintaining reliable holding.
2Reliability
If the workpiece is held in a bent state for random expansion and contraction, then the holding device can securely grasp the workpiece, but the workpiece cannot be properly conveyed to the next processing step
Solution Approach 1:
The system dynamically switches between holding modes: first securing the workpiece in a bent state for reliable grasping, then transitioning to a straight reference state for efficient conveyance. This dynamic state change ensures both secure holding and smooth operation in different process stages.
Solution Approach 2:
The holding device performs preliminary action by setting the workpiece to a reference straight state before conveyance. This preliminary straightening action ensures the workpiece is in the proper state for subsequent processing steps, improving overall system efficiency.
3Device complexity
If the holding device uses a simple suction mechanism, then the device structure remains simple, but it cannot set the workpiece to a reference straight state after holding
Solution Approach 1:
The patent merges the suction holding function with the expansion-contraction shape adjustment function into a single integrated component. This combination allows the device to both securely hold the workpiece and adjust its shape to a reference straight state without requiring separate mechanisms.
Solution Approach 2:
The expansion-contraction component serves multiple functions: it provides holding force through suction, adjusts workpiece shape from bent to straight, and enables random expansion/contraction for different operation modes. This multi-functionality reduces the need for separate components while achieving both simple structure and reference state capability.
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 efficiently holds and sets flexible workpieces to a reference state that is not bent, enabling smooth handling and processing, including conveying to a magnet jig, and allows for efficient operation of the robot system.
Implementation Method 1
with the workpiece sucked by a suction component
Data Source
AI summary
A holding device according to the present invention is a holding device that holds a workpiece having flexibility. A controller sets the workpiece to a reference state in such a manner that with first and second holding mechanisms holding the workpiece, a moving mechanism moves at least one of the first and second holding mechanisms in a length direction based on a length, detected by a detector, of the workpiece in a held state and a length, prestored in a storage, of the workpiece in a reference state.