Robotic Gripper With Switchable Finger Flexibility

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Solution Overview

Problem

Robotic gripping devices face challenges in handling both hard and soft workpieces efficiently, as existing devices often require separate mechanisms for different types of workpieces, leading to increased size, weight, and complexity, and difficulty in adapting to varying workpiece shapes and sizes.

Innovation Solution

A robotic gripping device with a base part attached to a robot's wrist, featuring finger parts with switchable flexibility, comprising hard and soft finger members that can move relative to each other, allowing the gripping surface to change between high and low flexibility modes, enabling secure gripping of both hard and soft workpieces without altering the device's orientation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If separate mechanisms are used for hard and soft workpieces, then gripping capability for different workpiece types is improved, but device size and weight increase

Engineering Contradiction:

Improvegripping capabilityVSAvoiddevice weight

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent combines multiple gripping surfaces with different flexibility characteristics (hard and soft) into a single unified finger structure. The finger includes a first gripping surface with high flexibility and a second gripping surface with low flexibility, both integrated into the same finger component. This merging allows the robotic gripper to handle both soft and hard workpieces using one device, avoiding the need for separate mechanisms and thereby reducing overall device weight.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The finger is designed with multi-functionality by incorporating both hard and soft gripping surfaces that can be selectively used depending on the workpiece type. The same finger structure serves multiple purposes: gripping soft workpieces with the high-flexibility first surface and hard workpieces with the low-flexibility second surface. This universal design eliminates the need for multiple specialized fingers, reducing device weight while maintaining versatility.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If separate mechanisms are used for hard and soft workpieces, then gripping capability for different workpiece types is improved, but device complexity increases

Engineering Contradiction:

Improvegripping capabilityVSAvoidmechanism complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent merges the functionality of separate hard and soft gripping mechanisms into a single integrated finger structure. Instead of having independent mechanisms for different workpiece types, the finger combines multiple gripping surfaces with different flexibility characteristics into one component, thereby simplifying the overall device architecture while maintaining the ability to handle various workpiece types.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The finger is designed as a universal component that can grip both soft and hard workpieces through its multiple surfaces. This multi-functional design eliminates the need for complex switching mechanisms or multiple specialized fingers, reducing device complexity while preserving adaptability across different workpiece types.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If multiple finger members are used for different flexibility, then adaptability to workpiece types is improved, but the number of parts increases

Engineering Contradiction:

Improveworkpiece type adaptabilityVSAvoidnumber of parts

Core Design Contradiction:

Adaptability or versatilityVSQuantity of substance

Solution Approach 1:

The patent combines multiple gripping surfaces that would traditionally require separate finger members into a single integrated finger. The finger includes a first gripping surface with high flexibility and a second gripping surface with low flexibility, both formed as part of the same finger structure. This merging reduces the number of parts while maintaining the ability to adapt to different workpiece types through selective surface usage.

Inventive Principle:

Principle #5Merging (Combining)

4Device complexity

If a unified driving mechanism is used, then device simplicity is improved, but control precision for different workpiece types may worsen

Engineering Contradiction:

Improvedriving mechanism simplicityVSAvoidgripping force precision

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The patent applies local quality by providing different gripping surface characteristics (high flexibility and low flexibility) at different locations on the same finger. Each surface is optimized for specific workpiece types, allowing the unified driving mechanism to achieve precise gripping control by selecting the appropriate surface based on the workpiece type, thereby maintaining both simplicity and precision.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS11148300B2Robotic gripping device

Publication Date: 2021.10.19 FANUC LTD

AI summary

A robotic gripping device includes a base part attached to a tip of a wrist of a robot; finger parts, at least one of which is movably supported on the base part so that the finger parts can move toward and away from each other; and a driving mechanism that drives the finger parts. In at least one of the finger parts, flexibility of at least a gripping surface is switchable.