Robot Hand Positioning Workpieces with Indefinite Burr Shapes
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Solution Overview
Problem
Existing workpiece conveying devices struggle to accurately detect and grip workpieces with burrs of indefinite shapes, often leading to incorrect positioning or damage during the conveying process.
Innovation Solution
A robot hand with two claws, each equipped with a contacting portion to engage the lower surface of the burr and a clamping portion to secure the main body, allows for precise vertical positioning and gripping of workpieces, aided by a camera for detection and correction, and a servomotor for controlled claw movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If camera detection is used to identify burr boundaries, then automation is improved, but measurement precision deteriorates due to difficulty in correctly detecting the boundary between burr and main body
Solution Approach 1:
The claw is segmented into functionally distinct portions: a contacting portion for engaging the burr and a clamping portion for gripping the main body. This segmentation allows each portion to perform its specific function optimally, resolving the contradiction by enabling automated handling while maintaining precision through specialized contact zones.
Solution Approach 2:
Different portions of the claw are given different local qualities: the contacting portion has a curved surface designed to match the burr geometry, while the clamping portion has a flat surface for stable main body contact. This local quality differentiation enables precise positioning without relying solely on camera boundary detection.
2Productivity
If grip claws are positioned to engage burr based on camera data, then productivity is improved, but reliability deteriorates due to risk of failing to grip or damaging the main body
Solution Approach 1:
The claw structure is divided into contacting and clamping portions that work in sequence: first the contacting portion engages the burr for positioning, then the clamping portion secures the main body. This segmentation ensures reliable gripping while maintaining high conveying efficiency.
Solution Approach 2:
The contacting portion performs preliminary positioning by engaging the burr before the clamping portion applies gripping force to the main body. This preliminary action ensures the workpiece is correctly positioned prior to full gripping, preventing damage and ensuring reliable conveyance.
3Device complexity
If single-point gripping is used for simplicity, then device complexity is reduced, but manufacturing precision deteriorates due to inability to correctly position workpiece with indefinite shape
Solution Approach 1:
The claw is segmented into contacting and clamping portions, adding only moderate structural complexity while achieving precise positioning. The contacting portion engages the burr for vertical positioning, and the clamping portion secures the main body for horizontal positioning, together achieving accurate workpiece placement.
Solution Approach 2:
The爪 structure incorporates local quality variations with curved contacting surfaces for burr engagement and flat clamping surfaces for main body contact. This localized specialization enables precise positioning of workpieces with indefinite shapes without excessive overall complexity.
Data Source
AI summary
A workpiece conveying device capable of correctly positioning and conveying a workpiece that has a burr having an indefinite shape by means of a robot. A robot hand has first and second claws configured to move toward and away from each other. The first claw has a first contacting portion configured to come into contact with a lower surface of the burr, and a first clamping portion arranged at a front end of the first contacting portion and configured to come into contact with a main body of the workpiece. The second claw has a second contacting portion configured to come into contact with the lower surface of the burr, and a second clamping portion arranged at a front end of the second contacting portion and configured to come into contact with the main body. The first and second clamping portions cooperatively position and clamp the main body.