Robot Hand With Movable Claws for Stable Saggar Handling
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Solution Overview
Problem
Existing robot hands experience saggar wobbling during handling due to immovable claws with a fixed distance, leading to instability and potential falling.
Innovation Solution
Incorporation of a pair of holding members, a first claw, and a pressing member that presses the saggar against the claw, along with additional claws and pressing members to stabilize the saggar in multiple directions, using ceramics for increased heat resistance and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If immovable claws with fixed distance are used, then the structure is simple, but the saggar wobbles and becomes unstable
Solution Approach 1:
The patent applies the dynamics principle by making the claws movable relative to the holding members. The claws can move in the left-right direction to adjust their position, allowing the robot hand to adapt to variations in saggar size and shape. This dynamic adjustment eliminates wobbling while maintaining structural simplicity through a single degree of freedom motion mechanism.
Solution Approach 2:
The patent changes the parameter of claw position from fixed to variable. By allowing the claws to move along guides in the left-right direction, the system can adjust the distance between claws to match different saggar dimensions. This parameter change enables stable holding without increasing overall structural complexity.
2Device complexity
If the distance between claws is constant, then the structure is simple, but the saggar cannot be securely held for all sizes
Solution Approach 1:
The claws are designed to move dynamically in the left-right direction along guides, enabling adjustment of the distance between claws. This dynamic positioning allows the robot hand to securely hold saggars of various sizes while maintaining a relatively simple structure through single-direction motion guides.
Solution Approach 2:
The claw positioning system is segmented into independent movable claws that can adjust individually. Each claw can move along its own guide, allowing flexible adaptation to different saggar dimensions without requiring a completely reconfigurable structure.
3Stability of the object's composition
If additional claws and pressing members are added, then the saggar stability improves, but the device complexity increases
Solution Approach 1:
The pressing members are designed to move in the up-down direction independently of the claw movement. This dynamic pressing action provides additional stabilization without requiring complex multi-degree-of-freedom mechanisms, as the pressing motion is achieved through simple linear guides.
Solution Approach 2:
The system adds stabilization in the up-down dimension through pressing members that move perpendicular to the claw movement direction. This dimensional separation allows independent control of claw positioning (left-right) and pressing (up-down), providing multi-directional stability without creating complex coupled mechanisms.
Data Source
AI summary
A robot hand may include: a pair of holding members configured to hold a saggar in a left-right direction after the saggar is conveyed out from a heat treatment furnace; a first claw placed on an upper side or a lower side of the saggar when the saggar is held by the pair of holding members; and a first pressing member for pressing the saggar held by the pair of holding members against the first claw.