Asymmetric Delta Robot for Compact Linear Packaging Lines
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Solution Overview
Problem
Delta robots have a round mechanical working area, which limits their efficiency in packaging technology as the elbows can protrude beyond the rectangular work area, causing collisions when robots are arranged closely together in a line.
Innovation Solution
Designing a delta robot with elongated mechanical working areas and positioning the upper arm axes such that at least two intermediate angles are different, with one being significantly smaller, ensuring the elbows do not protrude laterally, allowing for a compact robot line with closely arranged robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If delta robots are arranged closely together in a robot line to maximize productivity, then the robot line length is reduced and productivity increases, but the elbows of robot arms can protrude beyond the rectangular work area and cause collisions between adjacent robots
Solution Approach 1:
The patent applies asymmetry by configuring the three upper arm axes to span a triangle where at least two intermediate angles are different from one another. This asymmetric arrangement of the upper arm axes creates an elongated mechanical working area that prevents the elbows from protruding beyond the rectangular work area boundaries, thereby enabling robots to be arranged closely together without collision risks while maintaining high productivity.
2Productivity
If the mechanical working area is reduced to a rectangular permissible working area to match the product belt layout, then the working area efficiency improves, but the elbows may protrude beyond this reduced area causing collisions
Solution Approach 1:
The asymmetric configuration of upper arm axes with different intermediate angles creates an elongated mechanical working area that naturally conforms to the rectangular permissible working area requirements. This ensures that the elbows remain within the rectangular boundaries while maximizing the utilization of the available working space for product transfer operations.
Solution Approach 2:
The patent applies local quality by specifically designing the upper arm axis arrangement to control the elbow positions at critical locations. The asymmetric angle configuration ensures that in the lateral direction, the elbows do not protrude beyond the rectangular work area, while still allowing full utilization of the working area for the support element movements.
3Reliability
If robots are arranged with larger spacing to prevent elbow collisions, then collision risk is reduced, but the robot line length increases and productivity decreases
Solution Approach 1:
The asymmetric arrangement of upper arm axes with different intermediate angles creates a compact elongated working area that allows robots to be positioned at minimal spacing. This configuration inherently prevents elbow protrusion beyond the rectangular work area, enabling high-density robot arrangement without collision risks, thus maximizing productivity while maintaining reliability.
Data Source
Figure 1a
Figure 1b
Figure 2a
AI summary
In order to ensure that the mechanical work area of a delta robot is not round but elongated, and that the elbows of the delta robot do not protrude laterally beyond this mechanical work area in any of its functional positions when viewed from above, 2 of the 3 main axes of the upper arms take a very small angle to each other, the climatic center is located away from the center of the work area, and one of the upper arms is shorter than the other two upper arms.