Robot Hand Gripping Sequence for Stable Article Transfer

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Solution Overview

Problem

Existing article transfer devices face instability in gripping articles, leading to partial drops during transfer, especially due to the type of article being handled.

Innovation Solution

An article transfer device with a robot hand and control unit that performs a specific opening-closing operation to temporarily collect and grip articles, allowing for stable gripping by adjusting the angle and opening amount of the gripping unit.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the robot hand directly grips the article from the container, then the transfer operation can be performed quickly, but the gripping stability is poor and articles may partially drop

Engineering Contradiction:

Improvegripping stabilityVSAvoidtransfer speed

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The gripping unit performs a preliminary opening-closing operation before the actual gripping action. During this preliminary phase, the gripping unit temporarily closes and opens once or multiple times to collect and stabilize the article in the container, ensuring proper positioning and contact before the final grip is applied for transfer.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the gripping unit closes firmly to secure the article, then gripping stability improves, but articles may be damaged or surrounding articles may be disturbed

Engineering Contradiction:

Improvegripping stabilityVSAvoidarticle damage

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The gripping unit applies a controlled degree of closure force during the preliminary opening-closing operation. The force is sufficient to collect and stabilize the target article and separate it from surrounding articles, but not excessive enough to cause damage. This partial action approach allows stable gripping while minimizing harmful effects on the article.

Inventive Principle:

Principle #16Partial or excessive action

3Ease of operation

If the gripping unit opens completely after insertion, then the article can be easily released at the destination, but the gripping time increases and stability decreases

Engineering Contradiction:

Improvearticle releaseVSAvoidgripping stability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The gripping unit executes periodic opening-closing movements during the preliminary phase to collect and stabilize the article. After the article is properly positioned and stabilized through these periodic movements, the gripping unit maintains a closed state for transfer, and only opens completely upon reaching the transfer destination for article release.

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS11819998B2Article transfer device

Publication Date: 2023.11.21 ISHIDA CO LTD

AI summary

An article transfer device includes: a robot hand transferring an article gripped by a gripping unit; and a control unit controlling operation of the robot hand so as to insert the gripping unit into an article region where the article is disposed, grip the article, and transfer the gripped article to a transfer destination. The control unit controls the operation of the robot hand such that the gripping unit is closed and a predetermined amount of the article is gripped after opening-closing operation for opening the gripping unit after temporarily closing the gripping unit is executed at least once.