Robot Hand Device Segmentation Coupling Clamping

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Solution Overview

Problem

Existing hand devices attached to robot arms lack a stable mechanism for securely holding workpieces during processing, as they rely on opening-closing claws which may not provide sufficient clamping force or stability, especially when handling various shapes and sizes of workpieces.

Innovation Solution

A hand device comprising a first hand fixed to a robot arm, a second hand with a workpiece stage, a positioning mechanism, and a coupling mechanism that allows the second hand to be positioned and coupled to the first hand, with a clamping mechanism that moves part of the first hand toward the second hand to securely clamp the workpiece, utilizing servomotors and engaging members for precise control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If opening-closing claws are used to grab workpieces, then the hand device can handle various shapes and sizes, but the clamping force and stability are insufficient

Engineering Contradiction:

Improveability to handle various shapes and sizesVSAvoidclamping force

Core Design Contradiction:

Adaptability or versatilityVSForce

Solution Approach 1:

The hand device is divided into two separate hands (first hand and second hand) that can be coupled together. Each hand can independently position and clamp workpieces, allowing the system to handle various shapes and sizes while generating sufficient clamping force through the combined action of both hands.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The first hand and second hand are merged through a coupling mechanism to work together as a unified clamping system. This merging allows the combination of positioning capabilities with enhanced clamping force, resolving the contradiction between versatility and force.

Inventive Principle:

Principle #5Merging (Combining)

2Adaptability or versatility

If opening-closing claws are used to grab workpieces, then the hand device can handle various shapes and sizes, but the stability during processing is insufficient

Engineering Contradiction:

Improveability to handle various shapes and sizesVSAvoidstability during processing

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The hand device is segmented into two independent hands with distinct functions: the first hand provides stable positioning while the second hand provides clamping. This segmentation allows each component to optimize for its specific function, improving overall stability while maintaining versatility.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The first hand performs preliminary positioning of the workpiece before the second hand applies clamping force. This preliminary action ensures the workpiece is correctly positioned and stable before processing begins, enhancing stability during the actual processing operation.

Inventive Principle:

Principle #10Preliminary action

3Force

If a coupling mechanism is added to connect two hands, then clamping force is improved, but the device complexity increases

Engineering Contradiction:

Improveclamping forceVSAvoidstructure complexity

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

The coupling mechanism is designed with multi-functionality, serving both to connect the two hands and to enable their coordinated movement for clamping. This universal design reduces the need for separate components, thereby reducing overall device complexity while maintaining enhanced clamping force capability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Manufacturing precision

If a positioning mechanism is added to position the second hand relative to the first hand, then clamping precision is improved, but the device complexity increases

Engineering Contradiction:

Improvepositioning precisionVSAvoidstructure complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The positioning mechanism is merged with the coupling mechanism, combining the functions of connection and positioning into a single integrated system. This merging reduces the number of separate components and simplifies the overall device structure while maintaining precise positioning capability.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS10589420B2Hand device

Publication Date: 2020.03.17 FANUC LTD

AI summary

A hand device includes: a first hand fixed to a robot arm; a second hand that has a workpiece stage on which a workpiece is placed and that is coupled to the first hand; a positioning mechanism that positions the second hand relative to the first hand when the second hand is to be coupled to the first hand; and a coupling mechanism that couples the second hand having been positioned by the positioning mechanism to the first hand, and uncouples the second hand from the first hand, wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand.