Dual-Arm Robot Universal Gripper for Component Handling
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Solution Overview
Problem
Existing robot systems for automating assembly operations face challenges with complex and expensive hand structures required to handle various types of components, leading to increased size, weight, and cost, as well as interference with surrounding objects.
Innovation Solution
A robot system with a base that turns to support a body and two arms, each equipped with multiple actuators allowing for precise movement and a hand attached to a flange, utilizing existing workspace and facilities, and a method that includes a controller for storing and executing motion data to assemble products with high precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot hand has mechanisms specializing in handling specific types of components, then the ability to handle various types of components is improved, but the structure of the hand becomes complex
Solution Approach 1:
The robot hand is designed with a universal structure that can handle various types of components including irregularly shaped and heavy components through a single gripper mechanism, eliminating the need for multiple specialized mechanisms
2Adaptability or versatility
If the robot hand has specialized mechanisms for handling various components, then the handling capability is improved, but the size of the hand increases
Solution Approach 1:
A single universal gripper structure replaces multiple specialized mechanisms, significantly reducing the spatial footprint and interference area of the robot hand while maintaining the ability to handle various component types
3Adaptability or versatility
If the robot hand has specialized mechanisms for handling various components, then the handling capability is improved, but the weight of the hand increases
Solution Approach 1:
The robot hand uses a single universal gripper mechanism instead of multiple specialized mechanisms, significantly reducing the weight of the hand while maintaining the capability to handle various types of components including heavy components
4Adaptability or versatility
If the robot hand has a complex structure, then the ability to handle various components is improved, but the cost increases
Solution Approach 1:
The robot hand employs a universal gripper structure that can handle various component types, eliminating the need for expensive specialized mechanisms and reducing overall system cost
5Adaptability or versatility
If the robot has high payload capacity to support heavy hand, then the handling capability is improved, but the cost increases
Solution Approach 1:
By using a universal lightweight gripper instead of heavy specialized mechanisms, the robot's payload requirements are reduced, allowing for more economical robot selection and reduced overall system cost
Data Source
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AI summary
A plurality of types of workpiece components (W1, W2, W3, W4) are prepared in a workpiece component supplier (103, 104, 105, 106) that is disposed around a robot (101). The robot includes a body (2); a first arm (3R) attached to the body and including a plurality of joints; a second arm (3L) attached to the body, the second arm being independent of the first arm and including a plurality of joints; and a hand (11, 12) attached to each of the first arm and the second arm. The robot transfers at least one of the plurality of types of workpiece components to a workbench (102) by holding each of the workpiece components with the hands of both arms. The robot transfers the remaining types of workpiece components from the workpiece component supplier to the workbench by simultaneously holding each of the workpiece components with the hand of one of the arms. The robot assembles the workpiece components on the workbench using the first arm and the second arm.