Robot Hand Structure for Narrow-Space Connector Insertion
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Solution Overview
Problem
Existing robot hands face difficulties in gripping connectors at a predetermined position and orientation, especially when inserting them into narrow connector ports, due to their wide structure and limited maneuverability.
Innovation Solution
A robot hand design featuring a hand base with a push mechanism, front-stage and rear-stage wire rod chuck mechanisms, and pressing parts on fingers, allowing precise positioning and orientation of connectors for accurate insertion into narrow spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot hand directly pinches the connector with a pair of chucks, then the connector can be gripped, but the hand becomes wider than the connector and cannot be inserted into narrow connector ports
Solution Approach 1:
The robot hand is divided into two distinct stages: a rear-stage wire rod chuck mechanism for pinching the harness, and a front-stage wire rod chuck mechanism for pinching the connector. This segmentation allows each stage to perform its specific function independently, enabling precise connector positioning without increasing overall hand width.
Solution Approach 2:
The front-stage wire rod chuck mechanism is nested within the rear-stage mechanism, with the front stage positioned inside the hollow cylindrical structure of the rear stage. This nesting arrangement allows the connector to be gripped and positioned precisely while keeping the overall hand structure compact and narrow enough to fit into connector ports.
2Manufacturing precision
If a complicated jig is used to supply connector and harness to predetermined position and orientation, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The push mechanism automatically presses the connector from above to make it horizontal to the table, and the wire rod chuck mechanisms automatically pinch and position the connector. This self-service capability eliminates the need for complicated external jigs while maintaining high positioning accuracy through automated control.
Solution Approach 2:
The robot hand integrates multiple functions into a single device: the push mechanism handles orientation, the rear-stage chuck handles harness gripping, and the front-stage chuck handles connector positioning. This multi-functionality replaces what would otherwise require separate jigs and tools, reducing overall system complexity.
3Volume of moving object
If the robot arm posture or hand structure is constrained, then the hand can be compact, but it becomes difficult to achieve correct orientation and positioning of the connector
Solution Approach 1:
The wire rod chuck mechanisms are designed to be movable up and down, and the front-stage mechanism can move back and forth. This dynamic structure allows the hand to adapt its configuration during operation, enabling both compact size when not in use and effective maneuverability when gripping and positioning the connector.
Data Source
AI summary
It is desired to be able to grip a connector at a predetermined position in a predetermined orientation, and to be able to insert the connector into a connector port located in a narrow space. A robot hand 1 includes: a hand base 11; a push mechanism 20 supported by the hand base so as to be movable back and forth and configured to press a connector from above; a front-stage wire rod chuck mechanism 30 supported by the hand base so as to be movable up and down and back and forth and configured to pinch a harness; a rear-stage wire rod chuck mechanism 50 supported by the hand base so as to be movable up and down and configured to pinch the harness; and a pair of pressing parts 41, 42 provided on a pair of fingers 31, 32 of the front-stage wire rod chuck mechanism and configured to be pressed against the connector from behind.