Orthogonal Assembly Robot with Decoupled Z-Axis for Precision
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional automated assembly apparatuses using robots face reduced assembly accuracy due to increased inertial force during high-speed movement, particularly with Z-axis movement units, which affects the precision and efficiency of assembly operations.
Innovation Solution
The implementation of a holding unit with Z-axis movement and swinging capabilities to reduce the moment of inertia, allowing for accurate and high-speed assembly operations by decoupling the Z-axis movement from the X and Y-axis movements, thereby minimizing vibrations and improving positional accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an orthogonal robot includes a Z-axis movement unit to enable assembly operations in multiple directions, then the robot can perform assembly operations in multiple directions, but the inertial force of the hand increases during high speed movement, reducing assembly accuracy
Solution Approach 1:
The system divides the Z-axis movement function from the robot to a separate holding unit. The robot handles only horizontal movements (X and Y axes) while the holding unit handles vertical movements (Z axis), segmenting the motion control to reduce the robot's moment of inertia and improve assembly accuracy.
Solution Approach 2:
The holding unit acts as an intermediary between the robot and the assembly target component. It receives the assembly target component from the robot, performs vertical positioning independently, and enables multi-directional assembly without requiring the robot to have Z-axis movement capability.
2Productivity
If the robot moves at high speed to improve productivity, then the assembly efficiency increases, but the inertial force increases, reducing assembly accuracy
Solution Approach 1:
By segmenting the motion control between the robot (horizontal) and holding unit (vertical), the system allows the robot to move at high speed in the horizontal plane with reduced moment of inertia, while the holding unit independently manages vertical positioning to maintain assembly accuracy.
3Manufacturing precision
If the holding unit vertically moves and swings to achieve accurate assembly operations, then the assembly accuracy improves, but the device complexity increases
Solution Approach 1:
The holding unit combines vertical movement and swinging functions into a single integrated structure, reducing the overall device complexity compared to equipping the robot with separate Z-axis movement and swinging capabilities.
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
An automated assembly apparatus comprises an assembly robot that includes a Y-axis movement unit, a first X-axis movement unit movable in a Y-axis direction along the Y-axis movement unit, and a grip unit movable in an X-axis direction along the X-axis movement unit, and a workbench unit including a Z-axis movement unit arranged below the assembly robot with respect to an Z-axis and a workbench movable in the Z-axis direction along the Z-axis movement unit, wherein an assembly operation for a first assembly component gripped by the grip unit and a second assembly component mounted on the workbench unit is performed through movement in the Z-axis direction by the workbench unit.