Robot Hand Single Actuator Gripping Intersecting Surfaces
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Solution Overview
Problem
Conventional robot hands require multiple actuators to grip workpieces, increasing complexity and cost, while also being inefficient in securely holding objects with intersecting surfaces.
Innovation Solution
A robot hand design featuring first and second movable members with pushing surfaces, supported by an actuator that generates a pressing force and converts it to move the second movable member relative to the first, allowing for horizontal and vertical gripping of workpieces using a single actuator, with a pressing force conversion mechanism that ensures reliable surface contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple actuators are used to grip workpieces with intersecting surfaces, then gripping reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent combines multiple actuating functions into a single actuator by integrating a pressing force conversion mechanism. This mechanism converts the pressing force from one actuator into pressing forces in multiple directions (first direction for the first movable member, second direction for the second movable member), eliminating the need for multiple separate actuators while maintaining the ability to grip workpieces with intersecting surfaces reliably
Solution Approach 2:
The pressing force conversion mechanism changes the direction parameters of the pressing force generated by the single actuator. By converting the pressing force into components in different directions, the system achieves multi-directional gripping capability that would otherwise require multiple actuators, thus reducing device complexity while preserving gripping reliability
2Manufacturing precision
If multiple actuators are used to move claws linearly and separately, then gripping precision is improved, but control complexity increases
Solution Approach 1:
The patent merges the control of multiple movable members into a single control system. The pressing force conversion mechanism automatically distributes the pressing force from one actuator to multiple movable members in appropriate directions, eliminating the need for complex multi-actuator control while maintaining precise gripping capability through the mechanical force conversion
3Device complexity
If a single actuator is used to press movable members, then device simplicity is improved, but the ability to grip intersecting surfaces deteriorates
Solution Approach 1:
The pressing force conversion mechanism acts as an intermediary between the single actuator and the multiple movable members. It mediates the force transmission by converting the pressing force into multiple directional components, enabling the single actuator to effectively control multiple movable members for gripping workpieces with intersecting surfaces, thus maintaining gripping capability while simplifying the actuator system
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and cost-effective gripping of workpieces by using a single actuator to push intersecting surfaces, reducing the number of actuators needed and simplifying control, while ensuring secure vertical and horizontal grip without additional mechanisms.
Implementation Method 1
a robot hand that grips a workpiece by pushing a first pushing surface against a first surface of the workpiece and a second pushing surface against a second surface of the workpiece
Data Source
AI summary
A robot hand includes: a first movable member including a first pushing surface pushed against a first surface of a workpiece and a second pushing surface pushed against a second surface of the workpiece, intersecting the first surface, supported in a manner capable of moving in a first direction perpendicular to the first pushing surface, a second movable member supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, a third pushing surface pushed against a third surface facing the second surface, an actuator for pressing the first and the second movable members in the first direction, and a pressing force conversion mechanism converting a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.