Modular Robot Hand Segmentation for Variable Workpiece Widths
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Solution Overview
Problem
Conventional robot hands with large strokes or actuators are cumbersome and inefficient in handling workpieces of varying sizes, as they require significant space and weight to accommodate different dimensions.
Innovation Solution
A modular robot hand design featuring a first portion with a small actuator and attaching mechanism, and a second portion with larger movable members and engaging structures, allowing the robot hand to adjust its holding range by engaging and disengaging these structures to accommodate workpieces of different widths using a small stroke actuator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a servo hand with a large stroke or an actuator with a large stroke is used to hold workpieces of varying sizes, then the holding range is improved, but the weight and space requirements increase
Solution Approach 1:
The robot hand is divided into a first portion (base unit) and a second portion (extension unit) that can be detachably connected. The second portion includes additional movable members that extend the holding range when attached, while allowing the system to operate with reduced weight when only the first portion is used for smaller workpieces.
2Adaptability or versatility
If a servo hand with a large stroke or an actuator with a large stroke is used to hold workpieces of varying sizes, then the holding range is improved, but the space requirements increase
Solution Approach 1:
The robot hand is divided into a first portion (base unit) and a second portion (extension unit) that can be detachably connected. The second portion includes additional movable members that extend the holding range when attached, while allowing the system to operate with reduced space requirements when only the first portion is used for smaller workpieces.
3Weight of moving object
If a modular design with detachable portions is used to reduce weight and space, then the weight and space requirements are reduced, but the device complexity increases
Solution Approach 1:
The first and second portions are merged through the attaching and detaching mechanism to form an integrated robot hand when needed. The engaging portions on the movable members ensure that the portions are securely connected during operation, while allowing easy separation when not needed, thus managing complexity through controlled integration.
4Adaptability or versatility
If multiple engaging portions are provided in the second movable member to engage with the first movable member, then the adaptability for different workpiece sizes is improved, but the device complexity increases
Solution Approach 1:
The engaging portions are designed with universal compatibility between the first and second portions. The first engaging portion on the first movable member can engage with any of the multiple second engaging portions on the second movable member, allowing the same engaging mechanism to serve multiple positioning functions for different workpiece sizes without requiring different mechanisms.
Data Source
AI summary
A robot hand includes a first portion, and a second portion detachable from the first portion, including a pair of holding pieces for holding a workpiece. The first portion includes a first movable member movable in one direction by a first stroke, an actuator which moves the first movable member. The second portion includes a second base which is detachably attached to the attaching and detaching mechanism, and a second movable member movable in one direction by a second stroke which is larger than the first stroke. At least one of the holding pieces is fixed to the second movable member. A first engaging portion is provided in the first movable member, second engaging portions are provided in the second movable member, and the second engaging portion can be engaged with the first engaging portion.