Robot Hand Link Structure for Heavy Workpiece Transfer
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Solution Overview
Problem
Conventional robot systems are unable to hold and transfer heavy workpieces due to the increased weight at the distal end of the robot arm, which is caused by the rotational drive source and pinion mechanism used to change the distance between holders.
Innovation Solution
A robot system with a first and second hand, each equipped with a link structure that changes the distance between holders, and a controller that operates the arms to engage and disengage without using actuators for distance adjustment, allowing for the holding and transferring of heavier workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a rotational drive source, pinion, and rack structure are used to change the distance between holders, then the holders can be positioned accurately, but the weight of the distal end of the robot arm increases, making it unable to hold and transfer heavy workpieces
Solution Approach 1:
The patent removes the rotational drive source, pinion, and rack from the distal end of the robot arm. Instead, these positioning functions are achieved by controlling the robot arm's movement through engagement between an engager on one arm and an engagement receiver on the other arm, thereby extracting the heavy positioning mechanism from the distal end to reduce weight while maintaining positioning capability
Solution Approach 2:
The patent introduces an engager and engagement receiver mechanism as an intermediary between the two robot arms. This intermediary system enables coordinated movement and positioning of holders by having one arm's movement control the relative position between holders, eliminating the need for heavy actuators at the distal end
2Ease of operation
If actuators are equipped in each hand to change the distance between holders, then the distance adjustment is independent and precise, but the overall system complexity and weight increase
Solution Approach 1:
The patent merges the distance adjustment function into the robot arm's movement control. By engaging one hand's holder with the other hand's engagement receiver, the system combines positioning and distance adjustment into a single coordinated action, reducing the number of independent actuators and simplifying the overall system while maintaining adjustment capability
Data Source
AI summary
A robot system of the present invention includes: a first hand including first holders, a first link structure, and a first engager; a second hand including second holders, a second link structure, and a second engagement receiver; a first arm to which the first hand is connected; a second arm to which the second hand is connected; and a controller configured to perform: (A) operating the first arm and/or the second arm to engage the first engager with the second engagement receiver; and (B) operating the first arm to change a distance between the first holders after performing (A).