Gripper-Mounting Mechanism for Obstruction-Free End Effector Integration
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Solution Overview
Problem
Conventional robot hands with end effectors face spatial limitations and potential obstruction issues during workpiece manipulation, leading to erroneous operations due to the end effector's presence in the workspace.
Innovation Solution
A gripper-mounting mechanism comprising an outer shell, a motor unit, and transmission units with angularly spaced grip members that allow for easy mounting and movement of end effectors, such as video cameras or suction plates, without obstructing the workspace, by using a receiving channel and transmission gear system to position and manipulate the end effectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an end effector is mounted on the robot hand to assist manipulation, then the manipulation capability is improved, but the workspace is obstructed and erroneous operations occur
Solution Approach 1:
The end effector is nested within the receiving channel of the outer shell, allowing it to be housed inside the gripper structure when not in use. This nesting arrangement eliminates workspace obstruction while maintaining the ability to deploy the end effector when needed for manipulation tasks.
Solution Approach 2:
The receiving channel extends along a first axis that is perpendicular to the direction of grip members' movement. By positioning the end effector along a different spatial dimension (the first axis) rather than in the grip direction, the design allows the end effector to coexist with the gripping function without obstructing the workspace.
2Adaptability or versatility
If conventional mounting methods are used, then the end effector can be attached, but assembly is complex and wiring is messy
Solution Approach 1:
The motor unit is integrated within the gripper structure itself, combining the actuation system with the mounting mechanism. This integration eliminates the need for separate external wiring and control systems, simplifying both assembly and the overall device structure while maintaining end effector attachment capability.
Solution Approach 2:
The transmission gear unit serves multiple functions: it drives the grip members for gripping operations and simultaneously positions the end effector within the receiving channel. This multi-functionality reduces the need for separate mechanisms, thereby reducing assembly complexity and wiring requirements.
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 mechanism enables convenient assembly and operation of end effectors, reducing the risk of obstruction and enhancing workspace utilization while allowing for precise manipulation of workpieces without messy wiring.
Implementation Method 1
a transmission gear unit (41) that is disposed in the accommodating space (21) and that is driven by the motor unit (3) to rotate about the first axis (L1)
Implementation Method 2
a threaded shaft (52) that is co-rotatably connected to the second bevel gear (51), extends along the second axis (L2), and that is rotatable about the second axis (L2)
Data Source
AI summary
A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.