Robot Hand Gripping Cylindrical Objects Without Cable Tangling
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Solution Overview
Problem
Existing robot hands designed to grip and rotate cylindrical objects often suffer from cable tangling and excessive external force issues, leading to limited rotation angles and increased size and cost due to separate mechanisms for gripping and rotating.
Innovation Solution
A robot hand with N fingers positioned at vertices of a N-sided polygon, equipped with first, second, and third rollers, and drive parts that allow simultaneous movement and rotation of the object about its center axis, enabling gripping and rotation without adversely affecting connected cables, and utilizing force control for gripping and restraining the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot hand is rotated by a certain angle or more, then the object can be rotated for conveying, but the cable connected to the hand becomes tangled in the wrist shaft and/or excess external force is applied to the cable
Solution Approach 1:
The patent extracts the rotation function from the robot hand itself and transfers it to a separate rotation mechanism. The robot hand maintains a fixed orientation while the object is rotated by an external rotation mechanism, thereby eliminating cable tangling issues while preserving object rotation capability.
Solution Approach 2:
The patent introduces an intermediary rotation mechanism between the robot hand and the object. This intermediary mechanism handles the rotation function, allowing the robot hand to remain stationary and cable-free while still enabling object rotation for conveying purposes.
2Adaptability or versatility
If separate means are used for gripping and rotating the object, then there is no limitation on rotation angle, but the entire apparatus becomes large
Solution Approach 1:
The patent merges the gripping and rotation functions into an integrated mechanism. The rotation mechanism is combined with the gripping structure, allowing both functions to be performed within a compact assembly, thereby reducing overall apparatus size while maintaining versatile rotation capability.
Solution Approach 2:
The patent designs a multi-functional mechanism that performs both gripping and rotation functions. The same structural elements serve dual purposes, eliminating the need for separate dedicated mechanisms and thereby reducing apparatus volume while providing full rotation adaptability.
3Reliability
If the robot hand is designed with N fingers positioned at vertices of a N-sided polygon, then the gripping stability is improved, but the device complexity increases
Solution Approach 1:
The patent segments the gripping function into multiple independent fingers arranged in a polygonal pattern. Each finger can independently contact and grip the cylindrical object, distributing the gripping force and improving stability. This segmentation allows for simple, modular finger design while achieving reliable gripping.
Solution Approach 2:
The patent employs an asymmetric finger arrangement where N fingers are positioned at the vertices of a N-sided polygon. This asymmetric distribution of gripping points around the cylindrical object provides optimal contact and gripping stability, leveraging geometric asymmetry to improve functional performance.
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 solution allows for compact, cost-effective robot hands that can grip and rotate cylindrical objects without cable interference, reducing cycle time and improving workability by integrating gripping and rotating functions, while simplifying control and extending the life of drive parts and rollers through feedback force control.
Implementation Method 1
N number of first rollers respectively attached to the N number of fingers, wherein each first roller is rotatable about an axis parallel to the center axis and is configured to contact the inner or outer peripheral portion of the object by movement of the finger relative to the hand base
Implementation Method 2
a second drive part which rotates at least one of the N number of first rollers
Data Source
AI summary
An inexpensive and compact robot hand and a robot having the robot hand, wherein the robot hand is configured to rotate a cylindrical object gripped by the robot hand and does not negatively affect a cable, etc., connected to the robot hand. N number of fingers are moved by a first drive part so that a circumcircle of a N-sided polygon constituted by the fingers is arranged in a concentric pattern about the center axis of the object. Each first roller is rotatable about an axis parallel to the center axis of the object, and is configured to contact the inner peripheral portion of the object by movement of the finger relative to a hand base. By rotationally driving at least one first roller while a radially outward force is applied to the object, the object may be rotated relative to the hand base.