Robot Hand Jaw Position Sensing for Reliable Workpiece Gripping
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Solution Overview
Problem
Conventional workpiece gripping determination mechanisms in robot hands are inaccurate and require complex configurations, which contradict the need for size and weight reduction in robot hands due to the use of pushers and pushers that may not function properly depending on the workpiece's posture.
Innovation Solution
A workpiece gripping determination mechanism for a robot hand that utilizes master jaws with detection devices to determine the presence or absence of a workpiece by detecting the position of the master jaw at the outer or inner diameter sliding ends, using air pressure or proximity switches to confirm the gripping state without a conventional pusher.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional pusher-based gripping determination mechanism is used, then gripping confirmation can be achieved, but the robot hand becomes larger and heavier
Solution Approach 1:
The invention extracts the gripping determination function from a separate pusher mechanism and integrates it into the master jaw itself. The master jaw now serves dual purposes: gripping the workpiece and determining gripping status through its own position detection, eliminating the need for additional pusher components and reducing robot hand weight.
Solution Approach 2:
The master jaw is designed to perform multiple functions: it acts as both the gripping element and the gripping determination element. By detecting the master jaw's own position through the detection device, the system achieves gripping confirmation without requiring separate dedicated components, thereby reducing overall complexity and weight.
2Reliability
If a pusher-based gripping determination mechanism is used, then gripping confirmation can be achieved, but the configuration becomes more complex
Solution Approach 1:
The invention removes the separate pusher component and its associated complexity from the system. The gripping determination function is extracted and integrated into the master jaw's position detection capability, simplifying the overall mechanism by eliminating unnecessary intermediate components.
Solution Approach 2:
The invention merges the gripping function and the gripping determination function into a single integrated system. The master jaw's position, detected by the detection device, simultaneously provides information about both gripping status and workpiece presence, eliminating the need for separate pusher mechanisms and reducing structural complexity.
3Reliability
If a pusher-based gripping determination mechanism is used, then gripping confirmation can be achieved, but accurate determination cannot be ensured for all workpiece postures
Solution Approach 1:
The master jaw performs self-determination of gripping status by detecting its own position through the detection device. This self-service approach eliminates the need for external pushers that interact with the workpiece, allowing the system to accurately determine gripping status regardless of the workpiece's posture or orientation.
Solution Approach 2:
The invention replaces the mechanical pusher-based determination system with a detection device that monitors the master jaw's position. This substitution eliminates the need for mechanical contact between the determination mechanism and the workpiece, enabling accurate gripping determination for various workpiece postures without relying on specific contact geometries.
Data Source
AI summary
A workpiece gripping determination mechanism for a robot hand that determines presence or absence of a workpiece includes multiple master jaws to which chuck claws configured to grip a workpiece are attached and which slide in a radial direction, a detection device configured to detect a position of an outer diameter side sliding end or an inner diameter side sliding end by movement of the master jaw, and a control device configured to determine presence or absence of a workpiece gripped by the chuck claws based on a detection signal of the detection device. The detection device includes a determination flow path formed in the master jaw and configured to communicate with an air supply flow path of a robot main body, and a sensor configured to measure an air pressure of the air supply flow path.