Robot Hand Rotation Attitude for Screw Cap Opening
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Solution Overview
Problem
Existing robot systems fail to effectively open screw caps on containers that are tightly sealed, as they require human-like dexterity and rotational force, which is challenging for conventional robotic systems.
Innovation Solution
A robot system with a seven-axis manipulator and dual hands that employ different rotation attitudes and joint actuations to apply varying rotational forces, using a holding tool to securely position the container and apply force in stages to successfully open the screw cap.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional robot system with simple arm and hand movement is used, then the device complexity is low, but the reliability of opening operation fails when screw caps are tightly sealed
Solution Approach 1:
The opening operation is divided into multiple sequential phases: initial rotation phase with first rotation attitude, subsequent rotation phase with second rotation attitude, and final opening phase. Each phase uses different hand attitudes and rotational forces appropriate to that stage, allowing the system to reliably handle tightly sealed caps without requiring overly complex hardware
Solution Approach 2:
The robot hand dynamically changes its rotation attitude between at least two different configurations during the opening process. The hand transitions from a first rotation attitude for initial rotation to a second rotation attitude for subsequent rotation, adapting the mechanical configuration to match the varying torque requirements at different stages of cap opening
2Ease of operation
If human-like dexterity is required for opening operations, then the ease of operation improves, but the device complexity increases significantly
Solution Approach 1:
The system changes key operational parameters including hand rotation attitude, gripping force magnitude, and rotational speed across different phases of the opening process. By dynamically adjusting these parameters rather than requiring complex mechanical structures, the system achieves human-like dexterity in opening operations while maintaining relatively simple robot hardware
3Productivity
If rotational force is applied to open tightly sealed screw caps, then the productivity improves, but the container may be damaged
Solution Approach 1:
The system applies a preliminary initial rotation phase with controlled rotational force to break the tight seal of the screw cap before proceeding to faster subsequent rotation. This preliminary action creates initial clearance and reduces the sealing pressure, enabling faster opening speeds in later phases without risking container damage from excessive force
Solution Approach 2:
The opening process uses periodic action with distinct phases: an initial rotation phase with lower speed and controlled force to break the seal, followed by subsequent rotation phases that can proceed at higher speeds. This periodic variation in operational intensity maintains productivity while preventing container damage through controlled force application at critical moments
Data Source
Figure 1
Figure 2(a)~2(b)
Figure 3
AI summary
A robot system 1 includes a robot 10a, a hand 11a attached to the robot 10a, and a controller 12 configured to control operation of the robot 10a. The controller 12 includes an initial control unit 12b configured to rotate the hand 11a in a state where the hand 11a holds the screw cap 21b tightened onto a conical tube 21 in a first attitude, and a normal control unit 12c configured to rotate the hand 11a in a state where the hand 11a holds the screw cap 21b in a second attitude different from the first attitude after the hand 11a is operated by the initial control unit 12b.