Robot Holding Nails with Elastic Chuck for Narrow Workpiece Removal
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Solution Overview
Problem
Existing methods using soft material holding fingers for robots struggle to accurately and securely hold workpieces close to each other, leading to difficulties in precise and efficient removal.
Innovation Solution
A robot hand with a movable chuck supported by an elastic body, where holding fingers apply pre-pressure and then open to move laterally around the workpiece, allowing neighboring pieces to be flicked away, ensuring secure grip and accurate handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If soft material holding fingers are used to hold workpieces, then the holding fingers can be inserted into narrow spaces, but it becomes difficult to accurately and securely hold the target object
Solution Approach 1:
The patent changes the material parameter from soft to rigid for the holding fingers. The rigid holding fingers can maintain their shape and provide stable contact with the workpiece, enabling accurate and secure holding while still being able to insert into narrow spaces due to their controlled geometry and the elastic body's flexibility.
Solution Approach 2:
The elastic body acts as an intermediary between the hand main body and the chuck. It provides flexible support that allows the rigid holding fingers to move and position themselves accurately in narrow spaces while maintaining structural integrity for secure holding. The elastic body compensates for the rigidity of the holding fingers by providing controlled flexibility at the connection point.
2Reliability
If rigid holding fingers are used, then accurate and secure holding is achieved, but it becomes difficult to handle workpieces close to one another
Solution Approach 1:
The patent introduces dynamic movement capability to the holding fingers through the elastic body support. The holding fingers can dynamically adjust their positions laterally close to the workpiece by utilizing the elastic body's flexibility, enabling the robot to navigate between closely positioned workpieces while maintaining secure grip on the target object.
Solution Approach 2:
The patent enables movement in an additional lateral dimension close to the workpiece surface. By combining the rigid holding fingers with the elastic body's flexibility, the system can position fingers laterally adjacent to the workpiece, creating a three-dimensional handling capability that allows removal of closely positioned workpieces without compromising holding accuracy.
3Stability of the object's composition
If the chuck is supported rigidly by the hand main body, then structural stability is maintained, but the holding fingers cannot move laterally close to the workpiece
Solution Approach 1:
The patent changes the support parameter from rigid to elastic. The elastic body provides flexible support that maintains structural stability while allowing lateral movement of the holding fingers. This elastic support parameter enables both stability and mobility, resolving the contradiction between maintaining structural integrity and enabling dynamic positioning.
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 easy and accurate removal of workpieces even when they are closely positioned, preventing damage and ensuring precise handling without complex mechanisms.
Implementation Method 1
the chuck is supported by the hand main body via an elastic body in a direction in which the chuck is movable relative to the hand main body
Data Source
AI summary
Before chuck 20 is opened, coil spring 22 is compressed, and coil spring 22 applies downward force to holding nails 24. Accordingly, when the chuck 20 is opened, resultant force that opens the chuck 20 and the restoring force of the coil spring 22 causes the holding nails 24 to automatically move in oblique downward directions. As a result, the holding nails 24 move to positions that are laterally close to the holding target workpiece 26a. At this time, when other workpieces 26b and 26c neighbor the holding target workpiece 26a, the holding nails 24 can move the neighboring workpieces 26b and 26c from the workpiece 26a so as to flick away the neighboring workpieces 26b and 26c.