Taper-Fit Tool Gripper for Sensorless Precision Placement
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Solution Overview
Problem
Existing apparatuses for tool gripping face challenges in achieving high accuracy while maintaining a simple structure, as multi-fingered multi-DOF hands and sensor-based marker recognition systems increase costs and complexity, and limit the types of tools that can be handled.
Innovation Solution
The apparatus employs fit portions with taper shapes on the tool and grip device, allowing for precise mechanical fitting without sensors, and a placement device with elastic connections to ensure accurate tool gripping and placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a multi-fingered multi-DOF hand is employed to grip the tool, then gripping strength is improved, but device complexity and cost increase
Solution Approach 1:
The grip device is segmented into multiple finger parts (first finger part, second finger part, etc.) that can independently move and grip the tool. Each finger part has its own actuator, allowing distributed gripping force application while maintaining manageable complexity through modular architecture
Solution Approach 2:
The finger parts are designed with dynamic degrees of freedom, allowing them to adapt their positions and gripping forces in real-time. The actuators enable continuous adjustment of finger part positions to optimize gripping strength while maintaining contact with the tool surface
2Strength
If a multi-fingered multi-DOF hand is employed to grip the tool, then gripping strength is improved, but manufacturing cost increases
Solution Approach 1:
The grip device is designed with universal finger parts that can handle various tool types through geometric fitting portions. The same basic finger part structure with different fit portion configurations can accommodate multiple tool shapes, reducing manufacturing variety and cost while maintaining gripping strength across different applications
3Manufacturing precision
If marker and sensor-based positioning is used, then gripping accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces sensor-based marker recognition with a direct mechanical fitting system. The fit portions on the tool and corresponding fit portions on the finger parts create a purely mechanical positioning mechanism that eliminates the need for sensors, markers, and complex vision systems while achieving high gripping accuracy through geometric constraints
Solution Approach 2:
The tool itself provides positioning information through its own geometric features (fit portions) rather than requiring external markers or sensors. The tool's shape and the corresponding fit portions on the grip device create a self-aligning mechanism that automatically positions components without external sensing systems
4Manufacturing precision
If marker and sensor-based positioning is used, then gripping accuracy is improved, but adaptability decreases
Solution Approach 1:
The grip device employs universal fit portions that can accommodate various tool shapes and sizes. By configuring different fit portion geometries on the finger parts, the same basic grip device structure can handle multiple tool types without requiring sensor-based recognition or tool-specific customization, thereby improving adaptability while maintaining accuracy
Solution Approach 2:
The grip device is segmented into multiple finger parts with independently configurable fit portions. This segmentation allows each finger part to be optimized for different tool geometries while maintaining the overall grip device structure, enabling versatile handling of various tool types through modular reconfiguration
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
This configuration enables high-accuracy gripping and placement of tools with a simple structure, reducing costs and enhancing reliability, while allowing for a variety of tool types to be handled efficiently.
Implementation Method 1
an elastic connection portion that elastically connects the base portion to the contact part
Data Source
AI summary
An apparatus includes: a tool having a first fit portion; a grip device that includes a plurality of finger parts having a second fit portion and an actuator that drives the plurality of finger parts; and a movement device that moves the grip device, wherein at least one of the first fit portion and the second fit portion has a taper shape, and the first fit portion and the second fit portion fit each other when the actuator drives the plurality of finger parts such that the plurality of finger parts grip the tool.