Coupled Industrial Robot Arms for Enhanced Load Capacity
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Solution Overview
Problem
Industrial robots face limitations in handling efficiency and load capacity, particularly when dealing with lightweight robots that require higher rigidity and accuracy for precision tasks, and are often constrained by their payload and kinematic properties.
Innovation Solution
A method involving the coupling of two industrial robots, where one manipulator arm grips the object and the other supports by connecting to its links, allowing for temporary enhancement of load capacity and rigidity without altering the robot's structure, enabling improved handling and positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If lightweight robots are used for handling objects, then ease of operation and safety in human-robot cooperation are improved, but load capacity and rigidity deteriorate
Solution Approach 1:
The patent combines two industrial robots into a cooperative system where one robot (support robot) couples to the manipulator arm of another robot (active robot). This merging allows the support robot to compensate for the active robot's insufficient load capacity and rigidity, enabling the handling of heavier objects while maintaining the advantages of lightweight robots for human-robot cooperation
2Strength
If the payload of lightweight robots is increased to handle heavier objects, then load capacity is improved, but the risk potential for operators and complexity of the system worsen
Solution Approach 1:
The patent introduces a coupling device as an intermediary mechanism that connects the support robot to the active robot's manipulator arm. This intermediary allows force transfer between the two robots without requiring permanent structural modifications, thereby increasing effective payload capacity while keeping the system reconfigurable and relatively simple
3Manufacturing precision
If permanent structural changes are made to increase robot rigidity, then manufacturing precision is improved, but ease of manufacture and adaptability worsen
Solution Approach 1:
The patent implements a dynamic coupling system where the support robot can be temporarily connected to or disconnected from the active robot's manipulator arm based on task requirements. This dynamic configuration allows the system to achieve high rigidity and positioning accuracy when needed, while maintaining ease of manufacture and adaptability when the coupling is not required
Data Source
Figure 1
Figure 2a~2e
Figure 3a~3b
AI summary
The invention relates to a method for handling objects (13) using at least two industrial robots (1), each comprising a manipulator arm (1a, 1b) having several successive links (5a-12a, 5b-12b) connected by adjustable joints (4a, 4b) controlled by at least one control device (2a, 2b), wherein one manipulator arm (1a) has a first end link (12a) and the at least one other manipulator arm (1b) has a second end link (12b), comprising the steps of grasping the object (13) using one manipulator arm (1a) such that the object (13) is connected to the first end link (12a), and coupling a link (5b-12b) of the at least one other manipulator arm (1b) to one of the links (5a-12a) of the first manipulator arm (1a). Manipulator arm (1a). The invention also relates to an associated industrial robot (1).