Force-Sensing Workpiece Holding for Small Article Handling

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Solution Overview

Problem

Existing robots require a large contact surface for holding articles, limiting the variety of articles that can be held, particularly small articles.

Innovation Solution

A holding device with a grip portion, supporting portion, detection unit, and control unit that detects and controls forces to prevent detachment, allowing for the holding of a wide variety of articles, including small ones, by adjusting the angle of the supporting portion based on detected forces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a robot uses a grip portion and projection portion to hold an article, then the article can be held securely, but a large contact surface is required which limits the variety of articles that can be held

Engineering Contradiction:

Improveholding securityVSAvoidarticle variety

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The invention changes the parameter of contact surface area by replacing the conventional large-contact-surface grip with a magnetic field-based holding mechanism. The magnetic force can be adjusted by controlling the current to the electromagnetic coil, allowing secure holding of articles with various sizes and shapes without requiring a large physical contact surface. This enables the robot to hold diverse articles including small ones that would not fit conventional grips.

Inventive Principle:

Principle #35Parameter changes

2Force

If a robot uses a large contact surface grip portion, then holding force is sufficient, but the device complexity increases and small articles cannot be held

Engineering Contradiction:

Improveholding forceVSAvoidgrip structure

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

The invention replaces the mechanical contact-based holding system with an electromagnetic field-based system. Instead of using a complex mechanical grip structure that requires large contact surfaces, the patent uses an electromagnetic coil to generate magnetic force for holding articles. This substitution simplifies the grip structure while maintaining sufficient holding force, and enables the robot to hold small articles that would be difficult to grasp mechanically.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 the secure holding and movement of diverse articles, including small ones, by controlling the angle of the supporting portion to maintain forces within a threshold, preventing detachment.

Implementation Method 1

a grip portion (101) that holds one side surface of a workpiece (301)

Methodology Applied

Scientific EffectMagnetic field: Magnetic Field

Data Source

PatentUS12466083B2Holding device, holding method, and storage medium

Publication Date: 2025.11.11 TOYOTA JIDOSHA KK

AI summary

A holding device includes: a grip portion that holds a side surface of one side of a workpiece; a supporting portion that supports the grip portion and moves the workpiece; a detection unit that detects a force applied to the grip portion; and a control unit that controls an angle of the supporting portion with respect to the ground such that a force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.