Diagonal Robot Arm Configuration for Expanded Workspace
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Solution Overview
Problem
Existing robot cell production systems face challenges in widening the operating range and increasing the operating distance of robot arms without increasing apparatus size, leading to limited workability and reduced productivity due to interference between adjacent robot arms.
Innovation Solution
A robot cell apparatus with a pair of articulated robot arms diagonally disposed on a quadrangular table, allowing for a widened cooperatively operable area above the table while preventing apparatus size increase, and a production system where multiple robot cell apparatuses are aligned with parallel straight lines connecting their robot arms to reduce interference and maintain productivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If robot arms are arranged in parallel in the workpiece conveying direction, then the apparatus size is reduced, but the cooperatively operable area is narrowed and workability deteriorates
Solution Approach 1:
The patent applies asymmetry by changing the relative position arrangement of the two robot arms from parallel to diagonal. Specifically, the first robot arm is positioned at one corner of the table and the second robot arm is positioned at the diagonally opposite corner, creating an asymmetric diagonal configuration that expands the cooperatively operable area while maintaining compact apparatus size.
Solution Approach 2:
The patent transitions from a one-dimensional parallel arrangement to a two-dimensional diagonal arrangement across the table. By positioning robot arms at diagonally opposite corners rather than parallel to each other, the system utilizes the full spatial extent of the table in both dimensions, thereby maximizing the cooperatively operable area without increasing the overall apparatus footprint.
2Productivity
If multiple robot cell apparatuses are disposed side by side, then productivity increases, but robot arms of adjacent apparatuses interfere with each other
Solution Approach 1:
The diagonal arrangement of robot arms creates an asymmetric configuration that reduces overlap with adjacent apparatuses. When multiple robot cell apparatuses are disposed side by side, the diagonal positioning of robot arms ensures that their operating spheres are more separated compared to parallel arrangements, thereby reducing interference between adjacent apparatuses and enabling higher productivity.
3Adaptability or versatility
If robot arms are positioned to maximize operating range, then workability improves, but apparatus size increases
Solution Approach 1:
The patent utilizes the diagonal dimension of the table to maximize operating range without increasing apparatus size. By positioning robot arms at diagonally opposite corners, each robot arm can reach across the entire diagonal span of the table, providing maximum operating range while keeping the apparatus confined to the table's footprint area.
Data Source
AI summary
Provided is a robot cell apparatus in which a cooperatively operable area for a pair of robot arms can be widened and which has an excellent workability. The present invention includes a table with a plane having a quadrangular shape in plan view, a workpiece being placed on the plane. Proximal ends of robot arms are respectively fixed to two corners at diagonal positions among four corners of the plane of the table. A cooperatively operable area in which the pair of robot arms are cooperatively operable is formed in a space above the plane of the table.