Conveyor Gripper Positioning for High-Force Workpiece Handling
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Solution Overview
Problem
Existing meat processing systems face challenges in efficiently grasping and processing varying workpieces due to the need for great force, which conventional robot arms struggle with, leading to increased processing time and reduced yield.
Innovation Solution
A work grasping apparatus with a gripper, rotation unit, and driving device, controlled by a controller, adjusts the gripper's angle and position to accurately grasp workpieces on a conveyor, using a simplified configuration without relying on robot arms for force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm is used to grasp and process workpieces, then various types of processes can be performed using different software, but the robot arm cannot provide sufficient force for processes requiring great force such as pulling and separating meat
Solution Approach 1:
The system is divided into two independent parts: a robot arm for positioning and a separate gripping mechanism for force application. The robot arm provides positioning capability while the gripping mechanism, connected to a linear motion mechanism, provides the necessary force for separation processes.
Solution Approach 2:
The patent combines the robot arm's positioning capability with a dedicated gripping mechanism that has high force output. This merging allows the system to achieve both versatility (from the robot arm) and sufficient force (from the gripping mechanism with linear motion mechanism).
2Force
If the robot arm size is increased to handle great force, then force capability is improved, but the facility scale increases
Solution Approach 1:
Instead of using a large robot arm, the system segments the force generation function into a separate gripping mechanism with a linear motion mechanism. This allows a small robot arm to control a high-force gripping mechanism, avoiding the need for a large-scale facility.
3Extent of automation
If a robot arm is used to grasp workpieces with varying shapes, then automation is achieved, but it is difficult to appropriately grasp workpieces due to individual variability
Solution Approach 1:
The gripping mechanism is designed to be movable in the vertical direction through a linear motion mechanism, allowing dynamic adjustment of the gripping position and angle. This dynamic capability enables the system to adapt to workpieces with varying shapes while maintaining automation.
4Force
If meat is pulled and separated by cutting gradually with a blade, then force requirements are reduced, but processing time increases
Solution Approach 1:
The gripping mechanism with linear motion capability enables the system to rapidly pull and separate meat in one motion rather than gradually cutting. This 'rushing through' approach reduces processing time while the controlled linear motion ensures clean separation.
Data Source
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AI summary
A work grasping apparatus includes: a gripper, a rotation unit, a driving device, and a controller. The gripper grasps a work conveyed by a conveyance unit. The rotation unit rotates the gripper so as to adjust an angle of the gripper with respect to a horizontal plane. The driving device includes a traversing unit and a lifting unit for moving the gripper and the rotation unit in an up-down direction and a front-back direction. The controller controls the driving device and the rotation unit so that the work is grasped by the gripper at a grasping position on the conveyance unit.