Circuit Board Gripper Motion for Fast Vertical-Axis Rotation
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Solution Overview
Problem
Existing transport devices struggle to efficiently rotate circuit boards around a vertical axis without significant technical effort or in a short time, especially for boards extending over the entire width of the transport device.
Innovation Solution
A transport device equipped with a multi-joint mechanism, including a carrier, articulated arm, boom, and gripping devices, allows for the rotation of circuit boards by providing additional mobility to the gripping devices, which can be controlled using various drives and mechanisms to achieve synchronous or independent movements, enabling rotation around a vertical axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional pivoting devices are added to enable workpiece rotation, then the rotation capability is improved, but the device complexity increases
Solution Approach 1:
The gripping devices are designed to perform multiple functions: they can grip workpieces for transport and also function as rotation actuators by moving along the boom. This eliminates the need for separate pivoting devices, achieving workpiece rotation capability while avoiding additional complexity from dedicated rotation mechanisms.
Solution Approach 2:
The gripping devices are made movable along the boom through which they pass, allowing dynamic adjustment of their position. This dynamic capability enables the gripping devices to rotate workpieces by changing their relative positions, providing rotation functionality without requiring static pivoting joints.
2Adaptability or versatility
If gripping devices are made movable along the boom, then the rotation function is achieved, but the structural complexity increases
Solution Approach 1:
The movable gripping devices serve dual purposes: transporting workpieces along the boom and rotating them by adjusting their positions. This multi-functionality achieves the rotation function while avoiding the need for separate rotation mechanisms, thereby limiting structural complexity increase.
Solution Approach 2:
The gripping devices utilize the existing boom structure and their own movement capability to achieve rotation, rather than requiring external rotation actuators. The gripping devices essentially rotate workpieces using their transport function, making the system self-sufficient and avoiding additional structural complexity.
3Manufacturing precision
If synchronous counter-rotating mechanism is implemented, then the rotation precision is improved, but the control complexity increases
Solution Approach 1:
The control of multiple gripping devices is merged into a coordinated system where they move synchronously in opposite directions along the boom. This combined control approach achieves precise rotation through the counter-rotating action while managing control complexity by treating it as a coordinated transport operation rather than separate rotation control.
Data Source
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AI summary
The invention relates to a transport device (101) for transporting a circuit board (P) in a production line (1), wherein the transport device (101) comprises a carrier (102), a multi-joint mechanism (103), a boom (105), a boom drive (106), a carriage (109), a carriage drive (110), a left gripping device (107) and a right gripping device (108), wherein the multi-joint mechanism (103) is arranged between the carrier (102) and the boom (105), wherein the boom (105) is movable relative to the multi-joint mechanism (103) by means of the boom drive (106), wherein the left gripping device (107) and the right gripping device (108) are movable together with the carriage (109) on the boom (105), wherein the left gripping device (107) and/or the right gripping device (108) move along the boom (105) is or are movable relative to the vehicle (109).