Electric Wire Bundling Robot Scooping Claw Mechanism
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Solution Overview
Problem
Existing electric wire bundling robots face challenges in efficiently bundling multiple wires in a horizontal plane without an auxiliary hand, as wires tend to loosen due to weight and tension differences, leading to potential escape during gripping, and increasing claw size compromises handling performance.
Innovation Solution
An electric wire bundling robot with a robot arm and hand featuring a gripping mechanism with obliquely movable lower claw portions that function as scooping claws, allowing for precise bundling and gripping of wires without the need for an auxiliary hand, by moving the lower claw upward to scoop up wires and reduce the space around them during closure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the size of the gripping claws is increased to prevent electric wires from escaping during bundling, then the reliability of wire bundling is improved, but the handling performance of the robot hand deteriorates
Solution Approach 1:
The gripping claw is divided into multiple claw portions (first claw portion, second claw portion, third claw portion) that can move independently. This segmentation allows each portion to be optimized for specific functions: the first and second portions for gripping wires from above, and the third portion for scooping wires from below, thereby achieving reliable wire bundling without increasing the overall claw size that would compromise handling performance.
Solution Approach 2:
The invention introduces a vertical dimension to the gripping mechanism by adding a third claw portion that moves in the vertical direction (obliquely upward from below) to scoop up wires. This adds a new degree of freedom to the gripping action, allowing the robot to securely hold wires without expanding the horizontal footprint of the claw, thus maintaining handling performance while improving bundling reliability.
2Reliability
If an auxiliary hand is added to enclose electric wires before bundling, then the reliability of wire bundling is improved, but the device complexity increases
Solution Approach 1:
The gripping mechanism is designed with multi-functionality, where the same gripping claw performs both the enclosing action (traditionally requiring a separate auxiliary hand) and the bundling action. The third claw portion specifically performs the enclosing function by scooping wires from below, while the first and second claw portions perform the bundling function, thereby eliminating the need for a separate auxiliary hand and reducing device complexity.
Solution Approach 2:
The invention merges the functions of the auxiliary hand and the gripping hand into a single integrated gripping mechanism. The multiple claw portions work together to first enclose the wires (using the third claw portion to scoop from below) and then bundle them (using the first and second claw portions to grip from above), combining what were previously separate functions into one unified structure.
3Reliability
If the gripping claws are closed from both sides in the arrangement direction to secure wires, then the reliability of wire bundling is improved, but the ease of operation deteriorates due to difficulty in accommodating wire position variations
Solution Approach 1:
The gripping mechanism employs dynamic movement of multiple claw portions that can independently adjust their positions and movements. The first, second, and third claw portions can move to different positions and postures to accommodate variations in wire arrangement, allowing the system to adapt to dynamic wire positioning while maintaining reliable bundling through coordinated closure of all claw portions.
Data Source
AI summary
A robot hand includes a gripping mechanism. The gripping mechanism includes a pair of gripping claws that perform opening and closing operations in a horizontal direction intersecting with an extending direction of an electric wire. The gripping claw has a lower claw portion that functions as a scooping claw by moving obliquely upward from below. Before or during a bundling operation, a control device of a robot causes the lower claw portion of the gripping claw to move obliquely upward from below to scoop up all electric wires to be bundled.