Workpiece Gripping Hand Center of Rotation Adjustment
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Solution Overview
Problem
Industrial robot hands face challenges in maintaining a constant gripping force when handling workpieces with varying outer shapes, leading to potential handling failures.
Innovation Solution
A workpiece gripping hand system that includes a first movable member, a second movable member, a support unit, and drive units to adjust the gripping force by changing the position of the center of rotation, allowing for precise control of the gripping force through a controller that calculates and adjusts the position based on the workpiece's dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a link-type hand with L-shaped links and interchangeable fingers is used to handle workpieces of different dimensions, then the hand can adapt to various workpiece sizes, but the gripping force changes when the outer shape of the workpiece changes, causing handling failures
Solution Approach 1:
The patent implements a movable support unit that can dynamically adjust the position of the center of rotation of the second movable member. This dynamic adjustment capability allows the hand to maintain constant gripping force across different workpiece shapes and sizes, resolving the contradiction between adaptability and reliability by making the gripping system flexible rather than fixed.
Solution Approach 2:
The patent changes the positional parameter of the center of rotation by moving the support unit along the link member. This parameter adjustment enables the hand to compensate for variations in workpiece geometry, ensuring consistent gripping force while handling diverse workpiece dimensions and shapes.
2Device complexity
If the position of the center of rotation is fixed, then the hand structure is simpler, but the gripping force cannot be adjusted for different workpiece shapes
Solution Approach 1:
The support unit is designed to be movable along the link member, transforming the fixed center of rotation into a dynamic one. This dynamic configuration provides gripping force adjustment capability while maintaining relatively simple hand structure through linear motion rather than complex mechanisms.
Data Source
AI summary
A workpiece gripping hand includes a first movable member and a second movable member which cooperate with each other to grip an object, a first drive unit which linearly moves the first movable member, a support unit which rotatably supports the second movable member, a link member which is linked to the first movable member and the second movable member, and which rotates the second movable member by transmitting a linear motion of the first movable member to the second movable member, and a second drive unit which moves the support unit to change a position of a center of rotation of the second movable member.