Robot Hand Device with Side Camera for Unobstructed Grasping Recognition
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Solution Overview
Problem
Conventional robots with hand devices struggle to recognize the environment effectively during grasping motions due to the recognition device being shielded by the object, making it difficult to determine if the motion is performed correctly.
Innovation Solution
An end effector with a base section and a motion section, where the recognition device is positioned to recognize the environment in a direction non-parallel to the load applied, ensuring unobstructed recognition throughout the motion, and a hand device with a finger section extending non-parallel to the base section for enhanced strength and recognition capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the recognition device is provided on the front surface of the tip end portion of the hand device, then the robot can recognize the situation of grasping motion, but the recognition range is shielded by the object at the stage when the motion is completed or immediately before completion
Solution Approach 1:
The recognition device is oriented to recognize in a direction non-parallel to the first direction (the direction of load applied to the object). This dimensional change in recognition orientation allows the device to capture environmental information from a different angular perspective that is not blocked by the object during grasping motion completion stages.
2Area of stationary object
If the end effector side recognition device is provided protruded from the base section, then the recognition range is expanded, but the device may collide with projected portions of the object and break during pushing motion
Solution Approach 1:
The end effector side recognition device is installed inside the base section rather than protruding from it. This nesting approach allows the recognition device to be housed within the protective structure of the base section, preventing collision with objects during pushing motions while maintaining its recognition functionality through appropriate internal positioning and orientation.
3Device complexity
If the finger section extends parallel to the base section for simplicity, then the structure is simpler, but the strength and recognition capabilities are reduced
Solution Approach 1:
The finger section is configured to extend in a direction non-parallel to the base section, creating an asymmetric structure. This asymmetric configuration enhances the mechanical strength of the hand device by optimizing load distribution and simultaneously provides better recognition capabilities by positioning the finger section to complement the recognition device's field of view.
Data Source
AI summary
A hand section 40 includes a hand base section 40a attached to a link section, a first finger section 40b provided to extend in a direction non-parallel with a direction toward a tip end portion from a base end portion of the hand base section 40a, from the tip end portion of the hand base section 40a, and a camera 40f provided at a side surface of the hand base section 40a, and capable of imaging a sideward of the hand base section 40a.