Robot Hand Segmentation for Wire Harness Connector Alignment
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Solution Overview
Problem
Current automated systems for connecting and transferring wire harnesses with connectors lack stability and versatility, particularly when dealing with flexible and long harnesses with multiple connectors, as they struggle to maintain precise positioning and tension during the assembly process.
Innovation Solution
A robot hand system equipped with fixed and movable holding units, driven by linear actuators, which securely grips the wire harness at both ends and uses a pressing mechanism to stabilize connectors for precise alignment and connection to counterpart connectors, utilizing cameras for real-time detection and control to ensure accurate positioning and posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a robot hand holds only the connector for connection operations, then the connection precision is improved, but the wire harness becomes unstable and difficult to position during transfer
Solution Approach 1:
The robot hand is divided into two independent gripping portions: a first gripping portion that holds the wire harness body and a second gripping portion that holds the connector. This segmentation allows each portion to perform its specific function independently, stabilizing the wire harness during transfer while maintaining connection precision during assembly operations.
2Adaptability or versatility
If the robot hand is designed for versatile operations (both transfer and connection), then the adaptability is improved, but the device complexity increases
Solution Approach 1:
The robot hand is designed with multi-functionality by incorporating two gripping portions that can perform both transfer operations (holding wire harness body) and connection operations (holding connector). This universal design allows a single robot hand to handle multiple task types without requiring separate specialized end effectors, thereby improving adaptability while managing complexity through integrated design.
3Stability of the object's composition
If the robot hand holds the wire harness body at multiple positions, then the transfer stability is improved, but the device complexity increases
Solution Approach 1:
The holding mechanism is segmented into two distinct gripping portions positioned at different locations along the wire harness. The first gripping portion holds the wire harness body while the second gripping portion holds the connector. This segmentation provides stable transfer capability through distributed holding points without requiring complex multi-point attachment mechanisms at each position.
Data Source
AI summary
The robot hand holds a wire harness having a long harness main body and a connector connected to an end of the harness main body. The robot hand includes a fixed holding portion which holds the harness main body a vicinity of the end thereof, a pressing portion movable relative to the fixed holding portion in a longitudinal direction of the harness main body held by the fixed holding portion, and a driving unit which moves the pressing portion in a direction away from the fixed holding portion such that the pressing portion presses the connector outwardly in the longitudinal direction of the harness main body.