Dual-Mode Robot Gripper Control for Fast Stable Picking
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Solution Overview
Problem
Conventional humanoid robots struggle with low productivity in picking tasks due to slow finger and arm motion, requiring manual packing of loads with varying shapes, weights, and fragrances, and lack efficient gripping mechanisms.
Innovation Solution
A control system for a robot with a first gripping portion and a second gripping portion, equipped with suctioning pads of varying diameters, and a control unit that selects the appropriate gripping function based on the load's shape and weight, enabling quick and reliable grasping and gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a finger-type gripping portion is used, then the robot can grasp various shaped loads, but the motion of finger and arm becomes slow reducing productivity
Solution Approach 1:
The gripping system is divided into two independent gripping portions: a first gripping portion with finger-type structure for grasping various shaped loads, and a second gripping portion with suctioning pad for quick gripping. This segmentation allows each component to specialize in different functions, maintaining versatility while improving speed.
Solution Approach 2:
The patent combines two different gripping mechanisms (finger-type grasping and suction-type gripping) into a single robot hand system. The control unit intelligently selects or combines both methods based on load properties, achieving both high adaptability and high productivity.
2Reliability
If manual packing is used for loads with varying shapes, weights, and fragrances, then each load can be handled carefully, but productivity is low
Solution Approach 1:
The patent replaces manual mechanical handling with an automated dual-mode gripping system. The control unit automatically selects between finger-type grasping and suction-type gripping based on detected load properties (shape, weight, fragility), achieving automated careful handling at high speed without manual intervention.
Solution Approach 2:
The system changes gripping parameters (grip force, contact area, gripping method) based on detected load properties. For fragile loads, the control unit selects gentler gripping methods; for robust loads, it uses stronger gripping forces, automatically adapting to maintain reliability while maximizing speed.
3Productivity
If multiple types of robots are selected for different load properties, then each robot can be optimized for its specific task, but device complexity and selection time increase
Solution Approach 1:
The patent creates a universal robot hand that can handle various load types by integrating two gripping portions capable of different gripping methods. The control unit automatically adapts the gripping strategy based on detected load properties, eliminating the need for multiple specialized robots while maintaining high task execution efficiency.
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
The system allows for efficient and reliable execution of tasks such as load checking, grasping, and gripping, improving productivity by eliminating the need for robot selection and ensuring stable gripping even with diverse objects.
Implementation Method 1
a plurality of types of suctioning pads that are selectively provided for each of the palm portion and the finger portions of the first gripping portion and are capable of sucking and holding the target object
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A control system for a robot includes plural types of suctioning pads that are selectively provided for each of a palm portion and a finger portion of a first gripping portion and are capable of sucking, holding, and gripping a target object with different sucking areas, and a control unit that selects any one of a first function of gripping the target object by the first gripping portion, a second function of gripping the target object by a second gripping portion, and a third function of using both the first function and the second function as a function of holding and gripping the target object by a property including at least a shape and a weight of the target object, and controls an operation of gripping the target object.