Gripping Device High-Strength Palm Prevents Contraction
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Solution Overview
Problem
The existing gripping devices using granular materials in the gripping body face issues with material deterioration and jamming, leading to unreliable workpiece gripping and potential contamination.
Innovation Solution
A gripping device with a high-strength portion integrated between the palm and connecting portions, which is less likely to deform, allowing the palm portion to be deformed in the thickness direction to elastically deform finger portions without using granular material, thereby securely gripping workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If granular material is used in the gripping body, then the gripping device can versatilely grip workpieces of different sizes or shapes, but the granular material deteriorates due to density changes and jamming transition, leading to unreliable gripping and potential contamination
Solution Approach 1:
The invention removes the granular material from the gripping body, extracting the problematic element that caused deterioration and contamination while preserving the essential gripping function through elastic deformation of the palm and finger portions
Solution Approach 2:
The invention changes the physical state of the gripping medium from granular material to an elastic body that deforms through pressure changes, transforming the gripping mechanism from jamming-based to elastic deformation-based for more reliable and clean operation
2Ease of operation
If the palm portion is deformed in the thickness direction to make finger portions fall toward the palm portion, then the gripping device can grip workpieces, but the outer periphery of the palm portion may contract causing unreliable gripping
Solution Approach 1:
The invention divides the palm portion into functionally distinct regions: a deformable palm portion for gripping action and a separate high-strength portion that maintains structural stability and prevents outer periphery contraction during deformation
Solution Approach 2:
The invention applies different material properties to different parts of the palm structure - the palm portion is made deformable for gripping while the high-strength portion is made rigid to maintain dimensional stability, creating local quality differentiation
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
This solution ensures reliable workpiece gripping without granular material, preventing contamination and allowing for versatile gripping of various workpiece sizes and shapes without damaging soft items like food.
Implementation Method 1
a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion by deforming the palm portion in a thickness direction
Data Source
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AI summary
There is provided a gripping device and an industrial robot that can more reliably grip a workpiece without using a granular material. The gripping device 10A includes: a palm portion 30; a plurality of finger portions 32 protruding from a periphery of the palm portion 30 and configured to fall toward the palm portion 30 by deforming the palm portion 30 in a thickness direction; a connecting portion 33 formed in a position surrounding an outer edge of the palm portion 30 on a side opposite to a side formed with the finger portions 32, the connecting portion 33 connected to a case 36; a high-strength portion 38 provided between the palm portion 30 and the connecting portion 33, the high-strength portion 38 having a predetermined length from the outer edge of the palm portion 30 in the thickness direction of the palm portion 30, and the high-strength portion 38 being less likely to be deformed than the palm portion 30; the case 36 connected to the connecting portion 33, the case 36 coming into contact with a base end of the high-strength portion 38; and an actuator 52A configured to deform the palm portion 30 in the thickness direction.