Rotating Robot Gripper for Helical Workpiece Handling
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Solution Overview
Problem
Existing workpiece handling systems face challenges in efficiently retrieving and inserting helically shaped workpieces from small containers due to interference with wires and require multiple operation programs for different helical shapes, making the teaching process complex and program management difficult.
Innovation Solution
A hand device attached to a robot arm with grippers that rotate around a predetermined axis, allowing the workpiece to align with the helical axis, and a guide device that applies external force in the tangential direction to rotate the workpiece, enabling a common operation program for various helical shapes by translating the robot arm vertically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot hand with elastic member connects first and second hand sections to grip helical workpieces, then the hand can adapt to helical shapes, but it requires multiple operation programs for different helical shapes making teaching complex
Solution Approach 1:
The gripper is designed to rotate dynamically around the rotation axis in response to external forces applied to the workpiece. This dynamic rotation capability allows the gripper to automatically adapt to different helical shapes without requiring pre-programmed instructions for each shape, thereby maintaining versatility while reducing program complexity
Solution Approach 2:
The hand device incorporates a universal gripping mechanism that can handle various helical workpieces using a single operation program. The rotatable gripper design enables one gripper structure to perform multiple functions across different helical configurations, eliminating the need for shape-specific programs
2Productivity
If the robot arm translates vertically to handle workpieces, then retrieval and insertion become efficient, but wires interfere with the small container space
Solution Approach 1:
The system utilizes vertical translation of the robot arm along the Z-axis to perform retrieval and insertion operations, moving the operation space to a different dimension where wire interference is minimized. This dimensional approach allows efficient handling while avoiding obstacles in the horizontal plane
3Adaptability or versatility
If the gripper rotates in helical direction according to external force, then a common operation program works for various helical shapes, but the mechanism becomes more complex
Solution Approach 1:
The gripper employs a self-service rotation mechanism where external forces applied to the workpiece automatically induce rotational motion of the gripper around the rotation axis. This passive rotation system eliminates the need for complex active rotation actuators, achieving adaptability to various helical shapes while keeping the mechanism relatively simple
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 retrieval and insertion of workpieces with different helical shapes using a single operation program, reducing the complexity of the teaching process and facilitating program management, while ensuring reliable and cost-effective handling.
Implementation Method 1
a first hand section and a second hand section that are connected to each other by an elastic member and that are movable relative to each other in accordance with elastic deformation of the elastic member
Data Source
AI summary
A hand device is attached to a robot arm, grips a workpiece extending helically around a helical axis, and includes a base attached to the robot arm and a gripping part that is supported by the base in a rotatable manner around a predetermined rotation axis and that grips the workpiece. The gripping part grips the workpiece on the predetermined rotation axis such that the helical axis of the workpiece substantially extends along the predetermined rotation axis, and rotates in a helical direction of the workpiece in accordance with an external force acting on the workpiece in a tangential direction around the predetermined rotation axis.