Dual-Arm Robot System Reducing Pivoting Radius
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Solution Overview
Problem
Existing robot systems face challenges in reducing the pivoting radius while maintaining the reach of the arms, as reducing the pivoting radius can lead to interference between the arms and the workpieces they hold.
Innovation Solution
A robot system with a configuration of two horizontal multi-joint type arms that pivot and extend/retract, where one arm moves along a first diameter direction and the other along a second diameter direction at a preset angle, allowing simultaneous pivoting and elevation to maintain positional relationships and avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the pivoting radius is reduced, then the robot system occupies less space, but the arms may interfere with the workpieces they hold
Solution Approach 1:
The patent introduces a preset angle between the first diameter direction and second diameter direction, creating a three-dimensional spatial relationship between the two arms. This angular separation in the circumferential direction allows both arms to operate in different spatial planes, reducing interference while maintaining a compact pivoting radius. The hands are positioned at different angular locations around the pivoting axis, enabling simultaneous operation without collision.
2Length of moving object
If the arm length is increased to maintain reach, then the robot can access more areas, but the device complexity increases
Solution Approach 1:
The patent combines multiple functions into the hands: each hand not only holds workpieces but also moves along its respective diameter direction and can be positioned at different heights. The hands integrate the functions of gripping, radial movement, and angular positioning, reducing the need for separate mechanisms and simplifying the overall system while maintaining extended reach capability.
3Productivity
If simultaneous pivoting and elevation is implemented, then the transfer efficiency is improved, but the control complexity increases
Solution Approach 1:
The patent implements dynamic coordination between pivoting and elevation movements. The hands move simultaneously in multiple degrees of freedom - pivoting around the vertical axis while also moving radially along diameter directions and vertically along elevation directions. This dynamic multi-axis coordination enables efficient workpiece transfer between chambers at different positions and heights, optimizing productivity through coordinated motion rather than sequential operations.
Data Source
AI summary
A robot includes: a first arm that is a horizontal multi-joint type arm provided with a first base link provided to be rotatable around a pivoting axis, a first intermediate link, and a first hand that holds a workpiece W thereon, and configured to move the first hand along a first diameter direction; a second arm that is a horizontal multi-joint type arm provided with a second base link provided to be independently rotatable from the first base link around the pivoting axis, a second intermediate link, and a second hand that holds the workpiece W thereon, and configured to move the second hand along a second diameter direction, and a pivoting device configured to pivot the first arm and the second arm together in the circumferential direction while maintaining a positional relationship of the first arm and the second arm in the circumferential direction.