Dual-Arm Robot Box Assembling with Jig Shape Control
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Solution Overview
Problem
Existing box assembling and packing systems face challenges in automating the assembly of packing boxes of different shapes and materials, particularly those made of elastic materials that are difficult to self-retain their shape, due to the need for large-scale equipment changes and high equipment costs, as well as low flexibility and efficiency in handling.
Innovation Solution
A box assembling and packing system that combines a general-purpose robot with simple jigs, utilizing a first jig for maintaining the packing box shape and a second jig for folding and tucking, along with a dual-arm robot or two single-arm robots to efficiently assemble and pack boxes of various shapes and materials, including elastic materials, by holding, folding, and maintaining the packing box in a rectangular tubular shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If large special equipment is introduced to automate packing box assembly, then automation capability is improved, but equipment size and cost increase significantly
Solution Approach 1:
The system divides the packing box assembly task into multiple stages: feeding the flat-packed box, folding side walls upright, forming the tubular shape, and closing flaps. Each stage is handled by simplified robotic operations rather than a single large specialized machine, enabling automation with smaller equipment components.
Solution Approach 2:
A general-purpose robot with interchangeable end effectors is used to perform multiple assembly operations on different packing box types. The robot can handle various box configurations by changing grippers or tools, eliminating the need for dedicated equipment for each box type while maintaining automation capability.
2Extent of automation
If large special equipment is introduced to automate packing box assembly, then automation capability is improved, but equipment cost increases significantly
Solution Approach 1:
The system employs a general-purpose robot that can be programmed to handle multiple packing box types and configurations. By using a single versatile robot with interchangeable end effectors instead of multiple specialized machines, equipment cost is reduced while maintaining automation capability across different product lines.
Solution Approach 2:
The system uses programmable robotic control that can be dynamically adjusted for different box types, materials, and assembly sequences. This flexibility allows the same equipment to adapt to various production requirements without requiring expensive reconfiguration or specialized hardware for each application.
3Extent of automation
If dual-arm robots with suckers are used to grasp and turn packing boxes, then automation is achieved, but equipment cost increases and flexibility decreases
Solution Approach 1:
The system uses programmable robotic arms with adjustable end effectors that can be reconfigured through software for different box types. This dynamic reprogramming capability provides flexibility in handling various packing box shapes, sizes, and materials without requiring physical equipment changes, maintaining adaptability while achieving automation.
Solution Approach 2:
Interchangeable end effectors serve as intermediaries between the robot and different packing box types. These modular grippers can be selected or adjusted to match specific box characteristics, providing versatile handling capability without requiring the robot itself to be customized for each application.
4Manufacturing precision
If traditional equipment is used for packing box assembly, then assembly capability is maintained, but adaptability to different box shapes and materials decreases
Solution Approach 1:
The robotic system uses programmable control with adjustable parameters for different box types, materials, and assembly sequences. This dynamic reconfiguration capability maintains precise assembly execution while adapting to various packing box specifications, eliminating the trade-off between precision and versatility.
Solution Approach 2:
The system adjusts operational parameters such as gripper force, movement speed, folding angles, and sequencing based on the specific packing box type being assembled. By changing these parameters through programming rather than physical reconfiguration, the system maintains manufacturing precision across different box types while achieving high adaptability.
Data Source
AI summary
This box assembling and packing system is provided: a first jig which is fixed at a predetermined position and against which a side part of a body of a packing box is thrust; a second jig which is fixed at a predetermined position and against which a flap part and a tuck part of the packing box are thrust; and a robot having two articulated arms. A first articulated arm of the two articulated arms holds and moves the packing box in a flatly collapsed form by a packing box holding mechanism, folds and raises the body of the flatly collapsed packing box into a rectangular tubular shape in cooperation with the first jig, and maintains the folded and raised body of the packing box in the rectangular tubular shape by a packing box rectangular tubular shape maintaining mechanism. The second articulated arm moves a folding member into contact with the flap part and the tuck part of the packing box being held by the packing box holding mechanism of the first articulated arm, forms each of a bottom and a lid of the packing box in cooperation with the second jig, and moves an object-to-be-packed being grasped by an object-to-be-packed grasping mechanism and inserts it into the body from an end portion at a timing between forming the bottom and forming the lid.