Robot Hand with Characterizing Notch for Rapid Position Teaching
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Solution Overview
Problem
Existing robots struggle to quickly detect the position of target objects in a two-dimensional plane due to inability to determine which portion of the contact surface the target object contacts, requiring multiple contacts to determine position, and are not applicable to conventional end effectors.
Innovation Solution
A robot with a hand having a contact/slide surface featuring a characterizing portion, such as a notch, that allows for quick detection of the target object's position based on the changed angular position of the hand, enabling rapid teaching and positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the hand contacts the target object to detect position, then the position information is obtained, but the detection speed is slow because multiple contacts are required
Solution Approach 1:
The contact surface is segmented into multiple distinct contact portions (first contact portion, second contact portion, third contact portion) with different orientations. Each contact portion can independently detect position information when contacted by the teaching target, allowing single-contact position detection instead of requiring multiple contacts, thereby resolving the contradiction between detection accuracy and detection speed.
2Device complexity
If a conventional end effector is used, then the robot structure is simple, but it cannot detect which portion of the contact surface the target object contacts
Solution Approach 1:
Different contact portions of the hand are given different local qualities (different orientations and positions). The first contact portion has a first orientation, the second contact portion has a second orientation different from the first, and the third contact portion has a third orientation different from both. This local differentiation allows the system to identify which contact portion is being contacted, preventing information loss about contact location while maintaining relatively simple overall structure.
3Measurement precision
If the hand is required to contact the target object in at least two directions to determine position, then position accuracy is improved, but the operation time increases
Solution Approach 1:
The solution transitions from requiring multiple sequential contacts in different directions to achieving position determination through a single contact by utilizing the third dimension (the variety of contact portions with different orientations). The hand is configured with contact portions extending in multiple directions (first, second, and third orientations), allowing the teaching target to contact the appropriate contact portion in a single action, thereby determining position accurately without increasing operation time.
Data Source
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AI summary
A robot comprises a robot arm including a lower arm (20), an upper arm (30) and a hand (40) attached to the tip end portion of the upper arm such that the hand is rotatable around a rotational axis (L3) thereof; a lower arm drive unit (15) which drive the lower arm to move the hand, an upper arm drive unit (25) which drives the upper arm to move the hand; a hand drive unit (35) which rotates the hand; a hand angular position detecting section (37) which detects an angular position of the hand around the rotational axis (L3); and a control unit which controls the upper arm drive unit, the lower arm drive unit, and the hand drive unit, wherein the hand includes a blade (40b) having a first contact/slide surface (50a) and a second contact/slide surface (50b) which extend in a first direction, contact a teaching target (T) and slide thereon, and the first contact/slide surface and the second contact/slide surface include a first characterizing portion (51a) and a second characterizing portion (51b) having bent points in the first direction, respectively.