Substrate Conveyor Robot Base Link Rotation Range
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Solution Overview
Problem
The existing substrate conveyor robots with up-and-down driving mechanisms have a limited rotation range due to interference between the guide rail cover and the base link when the guide rail cover is in a lowered position, restricting the movement of the robot arm.
Innovation Solution
The substrate conveyor robot design includes a guide rail cover integrated within the up-and-down mover, ensuring the rotation center of the base link is spaced away from the guide rail cover, allowing the guide rail cover to be outside the movement range of the base link, thus preventing interference and maintaining the full rotation range of the base link.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the guide rail cover is arranged separately from the base link to cover the exposed upper part of the guide rail, then the guide rail is protected, but the rotation range of the base link is limited due to contact between the guide rail cover and base link
Solution Approach 1:
The guide rail cover is merged with the up-and-down mover as an integrated component rather than being a separate element. The cover is positioned on the lateral side of the guide rail and is part of the mover structure, allowing it to move synchronously with the mover while protecting the guide rail without interfering with base link rotation
Solution Approach 2:
The guide rail cover is arranged in the lateral direction (Y-axis) rather than extending in the rotation path of the base link. By positioning the cover on the lateral side of the guide rail and ensuring its width in the lateral direction is sufficient to cover the guide rail, the design eliminates interference with the base link's rotational movement in the horizontal plane
2Object-affected harmful factors
If the guide rail cover is positioned to cover the exposed upper part of the guide rail when the up-and-down mover is in lowered position, then guide rail exposure is prevented, but the base link rotation is restricted
Solution Approach 1:
The guide rail cover is designed with specific dimensional characteristics tailored to its function: its width in the lateral direction (Y-axis) is sufficient to cover the guide rail, while its extension in the rotation direction is limited to avoid interfering with base link movement. This localized dimensional optimization allows the cover to protect the guide rail without restricting base link rotation
Solution Approach 2:
The guide rail cover is configured to move dynamically with the up-and-down mover, maintaining its protective function throughout the mover's range of motion. The cover's position relative to the guide rail changes as the mover moves up and down, ensuring continuous coverage of the exposed guide rail portions while automatically clearing from the base link's rotation path
Data Source
AI summary
In a substrate conveyor robot, a rotation center of a base link is spaced away from a guide rail cover so that the shortest distance between the guide rail cover and the rotation center of the base link is greater than the maximum turn radius of the base link.