Robot Gripper Lateral Pinch for Small Object Stability
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Solution Overview
Problem
Industrial robots face challenges in accurately gripping small-sized and lightweight objects due to difficulties in detecting their position and posture, leading to potential misalignment and object escape during gripping operations.
Innovation Solution
A robot design featuring a gripping section with a pair of finger sections that move laterally to surround and pinch the object, utilizing a control device to open and close the fingers in a plane parallel to the mounting surface, ensuring the object is gripped at multiple contact points for stable positioning and preventing escape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the chuck mechanism is positioned accurately using control device, then the gripping precision is improved, but for lightweight objects, the object may still contact at unintended places and move in unintended directions
Solution Approach 1:
The patent applies preliminary action by having the finger sections approach and contact the object at multiple predetermined points before the final gripping action. The marker detection enables the system to pre-calculate the optimal contact points and approach trajectory, ensuring that when the fingers close on the object, contact occurs at the intended locations. This preliminary positioning prevents unintended contact and object movement during the gripping operation.
Solution Approach 2:
The gripping action is segmented into multiple contact points distributed across the object's surface. Instead of relying on a single contact point, the system divides the gripping function across multiple finger section contact points, each contributing to stabilizing the object. This segmentation of the gripping action enhances reliability by distributing the stabilizing force across multiple points.
2Reliability
If the finger sections are moved to surround the object and pinch from lateral side, then the object escape prevention is improved, but the device complexity increases due to multi-point contact requirements
Solution Approach 1:
The patent uses a simplified two-dimensional representation (copy) of the three-dimensional object through the marker's projected pattern. Instead of requiring complex sensors or force feedback mechanisms to detect the object's orientation and position in 3D space, the system captures a 2D image of the marker and mathematically reconstructs the object's pose. This copying approach prevents object escape while avoiding the complexity of direct 3D sensing equipment.
Data Source
AI summary
A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.