Suction Hand with Linear Drive Linkage for Curved Workpieces
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Solution Overview
Problem
Conventional suction-type hands for industrial robots struggle to effectively draw and hold workpieces with curved surfaces due to gaps between the suction parts and the workpiece, and require increased motor size and weight to maintain contact, leading to higher costs and potential deformation of low-rigidity workpieces like thin plates.
Innovation Solution
A suction-type hand design featuring a base part with linear drive devices, link parts, joint parts, and suction parts, where the linear drive devices include braking mechanisms and air cylinders or servomotors with rotation-linear motion converting mechanisms to position suction parts along curved surfaces without the need for additional motors, allowing for precise positioning and reduced weight and cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If motors are coupled to the rotary axes of joint parts to maintain the position of suction parts, then the position of suction parts can be maintained on curved surfaces, but the size, weight, and cost of the hand increase
Solution Approach 1:
The invention extracts the motor from the joint parts and relocates it to the base, separating the driving function from the positioning function. This allows the joint parts to be simple passive connectors rather than active motorized components, significantly reducing the weight and cost of the hand while maintaining position control capability through the linear drive devices.
Solution Approach 2:
The invention replaces the motor-driven joint part system with a linear drive device system that uses mechanical advantage and linkage geometry to achieve positioning. The linear drive devices convert linear motion into rotational motion of the link parts, eliminating the need for motors at each joint and reducing overall system complexity and weight.
2Reliability
If motors are coupled to the rotary axes of joint parts to maintain the position of suction parts, then the position of suction parts can be maintained on curved surfaces, but the cost of the hand increases
Solution Approach 1:
The invention extracts the motor from the joint parts and relocates it to the base, separating the driving function from the positioning function. This allows the joint parts to be simple passive connectors rather than active motorized components, significantly reducing the weight and cost of the hand while maintaining position control capability through the linear drive devices.
Solution Approach 2:
The single motor at the base serves multiple functions: it drives all linear drive devices through the linkage mechanism, controls the position of multiple suction parts simultaneously, and can adapt to different workpiece geometries. This multi-functionality reduces the total number of motors needed, lowering cost while maintaining capability.
3Force
If suction parts are extended in the longitudinal direction of the workpiece to enhance vacuum suction force, then the suction force increases, but the moment acting on the motor increases and requires larger motor size
Solution Approach 1:
The invention divides the suction system into multiple separate suction parts distributed along the workpiece rather than one long extended suction part. Each suction part is driven by its own linear drive device, allowing the suction force to be distributed across multiple smaller actuators rather than requiring one large motor to handle the full moment of a long extended part.
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 secure holding of curved workpieces without deformation, reduces the need for motor-driven joint parts, and maintains suction force effectively on long workpieces, minimizing weight and cost while allowing for flexible positioning of suction parts.
Implementation Method 1
the linear drive devices have servomotors and rotation-linear motion converting mechanisms for converting the rotation of the servomotors to the linear motion of the movable parts
Implementation Method 2
the linear drive devices have air cylinders for linearly driving the movable parts
Implementation Method 3
the linear drive devices have braking devices for stopping the movable parts
Implementation Method 4
suction parts for drawing and holding a workpiece, which are each supported by the corresponding one of the plurality of link parts
Data Source
AI summary
A suction-type hand according to the present invention includes a base part, a plurality of linear drive devices successively arranged in the base part, a plurality of link parts, which are each connected to the corresponding one of movable parts of the linear drive devices and which are moved closer to or moved away from the base part in response to the movement of the movable parts, a plurality of joint parts for connecting the plurality of link parts in series, and rotatably supporting the link parts, and a plurality of suction parts for drawing and holding a workpiece, which are each supported by the corresponding one of the plurality of link parts.