Asymmetric Parallel Link Robot for Compact Pick and Place
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Solution Overview
Problem
Existing parallel link robot systems are inefficient in terms of space utilization and maintainability, and they often compromise hygiene due to the arrangement of arms and components that can lead to contamination of workpieces.
Innovation Solution
The system employs a configuration where the arms form angles less than 120 degrees, with higher rigidity arms positioned adjacent to critical working regions, and separates motors and speed reducers to maintain cleanliness and facilitate maintenance, using a belt transmission structure to reduce size and improve reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the three arms are arranged to form equal angles (120 degrees) around the axis, then the structural symmetry and stability are improved, but the width and size of the robot system increases
Solution Approach 1:
The patent applies asymmetry by arranging the three arms at unequal angles (first angle and second angle are equal, but the third angle is less than 120 degrees). This asymmetric configuration reduces the overall width of the robot system while maintaining sufficient structural stability for picking and placing operations.
2Device complexity
If the motors and speed reducers are integrated in a compact arrangement, then the device complexity is reduced, but the maintainability and ease of repair deteriorate
Solution Approach 1:
The patent applies segmentation by separating the motors and speed reducers into distinct, independently accessible units. This allows maintenance personnel to service speed reducers without disturbing the motors, and vice versa, significantly improving maintainability while keeping the overall device complexity manageable through modular design.
3Manufacturing precision
If the arms are positioned to optimize picking accuracy in the first working region, then the manufacturing precision is improved, but the space utilization and access to the second working region deteriorate
Solution Approach 1:
The patent applies local quality by positioning the first and third arms (with higher rigidity) adjacent to the first working region to optimize picking accuracy, while positioning the second arm adjacent to the second working region to ensure adequate space utilization and access. This localized optimization of arm positioning resolves the contradiction between precision and space utilization.
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 achieves a reduction in size and space requirements while maintaining high accuracy and reliability in picking and placing operations, with improved hygiene by preventing contamination of workpieces.
Implementation Method 1
a belt which is inserted through an opening provided in the base and which is configured to transmit motive power of the motors to the speed reducers, respectively
Data Source
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AI summary
A parallel link robot (7) includes a base (23) having an axis (AX), a movable portion (25) movable along the axis (AX) so as to pick a workpiece (W) in a first working region (Z1) and place the workpiece (W) in a second working region (Z2), and first, second and third arms (Al, A2, A3) arranged around the axis (AX) to form first, second, and third angles between the first, second and third arms (Al, A2, A3). Each of the arms (A1, A2, A3) connects the base (23) and the movable portion (25) to move the movable portion (25) along the axis (AX). The third angle is less than 120 degrees. The first angle and the second angle are equal. The first and third arms (A1, A3) are positioned on a side of the first working region (Z1) with respect to the axis (AX). The second arm (A2) is positioned on a side of the second working region (Z2) with respect to the axis (AX).