Multi-Fingered Hand Device Wiring and Rigidity
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Solution Overview
Problem
Existing multi-fingered hand devices face challenges with long and prone-to-damage wirings due to control units being positioned away from actuators, leading to difficult arrangements and potential disconnections during robot operations.
Innovation Solution
The multi-fingered hand device integrates a wrist sensor, fingertip sensor, and tactile sensor with control substrates inside the device, with substrates positioned opposite each other to sandwich the frame portion, reducing wiring length and facilitating internal arrangements, while supporting finger mechanisms from both sides to enhance rigidity and prevent wobbling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If control units are disposed away from actuators, then control operations can be centralized, but wiring length increases and wiring reliability decreases
Solution Approach 1:
The patent merges the control unit with the actuator by integrating the control substrate directly into the base portion housing the actuator. This integration eliminates long wiring connections between separate control units and actuators, thereby improving wiring reliability while maintaining centralized control architecture through the integrated control substrate.
2Device complexity
If control units are disposed away from actuators, then control operations can be centralized, but wiring arrangement difficulty increases
Solution Approach 1:
By merging the control substrate with the actuator housing in the base portion, the patent eliminates the need for complex wiring arrangements between separate components. The integrated design allows for simpler manufacturing and assembly processes while maintaining effective control operations.
3Length of moving object
If substrates are disposed overlapping at the same side, then device thickness is reduced, but wiring arrangement becomes difficult
Solution Approach 1:
Instead of stacking substrates vertically (overlapping at the same side), the patent arranges the control substrate and frame portion in a horizontal configuration within the base portion. This dimensional change allows for easier wiring arrangements while maintaining compact device thickness through efficient spatial utilization.
4Device complexity
If finger mechanisms are not supported from both sides, then device structure is simpler, but rigidity decreases and wobbling occurs
Solution Approach 1:
The patent segments the support function by providing separate first and second support portions that extend from opposite sides of the frame portion to support the finger mechanisms. This segmentation allows for targeted reinforcement at critical support points, enhancing rigidity and preventing wobbling while maintaining overall structural simplicity.
Data Source
AI summary
Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.