Robotic Gripper Impact Mechanism High Torque
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Solution Overview
Problem
Existing robotic grippers face challenges in achieving high gripping force and speed while minimizing power supply and weight issues, as hydraulic and pneumatic systems are heavy and cumbersome, and electric systems offer low power density and stiffness.
Innovation Solution
A robotic gripper system utilizing a back-drive inhibited drive train with an impact mechanism and an electric motor, where the impact mechanism generates high-torque impacts when loaded beyond a threshold torque, allowing for strong and fast gripping without the weight and power issues of hydraulic and pneumatic systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If hydraulic actuators are used to provide high gripping force, then gripping force is improved, but weight and device complexity increase due to high-pressure fluids, pumps, and lines
Solution Approach 1:
The patent replaces hydraulic actuators with an electric motor-driven impact mechanism. The impact mechanism uses a hammer and anvil system that generates high-torque impacts through controlled collisions, eliminating the need for hydraulic fluid, pumps, and lines, thereby significantly reducing weight while maintaining high gripping force capability
Solution Approach 2:
The impact mechanism operates by delivering periodic high-torque impacts through the hammer-anvil collision system. The motor rotates the hammer, which periodically strikes the anvil, creating impulse torques that exceed the motor's continuous torque capacity. This periodic action enables high gripping force without requiring a continuously high-power hydraulic system
2Force
If pneumatic grippers are used to achieve high gripping force, then gripping force is improved, but stiffness deteriorates due to relatively low stiffness in their gripping strength
Solution Approach 1:
The patent replaces pneumatic actuators with an electric motor-driven impact mechanism featuring a rigid hammer-anvil structure. The solid mechanical impact system provides inherent stiffness through the rigid components and direct force transmission, eliminating the compliance and stiffness issues associated with pneumatic systems while maintaining high gripping force
3Weight of moving object
If electric actuators are used to reduce weight and simplify power supply, then weight and ease of operation are improved, but gripping force deteriorates due to medium to low force gripping strengths
Solution Approach 1:
The impact mechanism converts continuous motor rotation into periodic high-torque impacts. The hammer strikes the anvil at specific intervals during rotation, generating impulse torques that exceed the motor's continuous torque rating by a factor of 2-3 times, enabling lightweight electric actuators to achieve high gripping force
Solution Approach 2:
The system transitions from static continuous torque to dynamic impulsive torque. The hammer-anvil impact mechanism creates transient high-force events during each rotation cycle, allowing the motor to operate at lower average power while delivering peak forces comparable to much larger continuous actuators
4Force
If high-power actuators are used to achieve both high closing speed and high gripping force, then speed and force are improved, but device complexity and power requirements increase
Solution Approach 1:
The patent merges the functions of high-speed actuation and high-force generation into a single integrated impact mechanism. The same hammer-anvil system that provides high gripping force also enables rapid closing speed through the motor's direct rotational drive, eliminating the need for separate high-power actuators and their associated complex control systems
Solution Approach 2:
The periodic impact delivery allows the system to achieve high closing speeds by rotating the motor at high speed, with each rotation delivering a forceful impact. The motor can spin rapidly (providing high speed), and each strike delivers concentrated force (providing high gripping force), while the simplicity of the rotating hammer mechanism keeps device complexity low
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 system achieves high gripping strength and rapid opening/closing speeds with a lightweight and compact design, using a low-torque electric motor to generate output torque that exceeds the motor's maximum capacity through a series of high-torque impacts, maintaining a strong grip and rapid movement.
Implementation Method 1
The impact mechanism is configured to generate a series of impacts that are delivered to the drive train when loaded beyond a threshold torque
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A robotic gripper (10) has fingers (12) that are configured to grasp an object, and an actuator (20) for driving the fingers. The actuator has a drive train (30) connected to the fingers for driving the fingers, an impact mechanism (40) mechanically connected to the drive train for driving the drive train, and a motor (50) connected to the impact mechanism for driving the impact mechanism. The impact mechanism generates a series of impacts that are delivered to the drive train when the impact mechanism is loaded beyond a threshold torque. The drive train is a back-drive inhibited drive train provided by a worm drive (32, 34) that is mechanically coupled to the impact mechanism.