Dual Picking Arm Transfer for Low-Vibration Powder Compaction
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Solution Overview
Problem
Powder compaction machines face issues with increased vibrations and stress due to rapid movements of robotic arms during high-speed transfer of fragile pressed articles, such as cutting inserts, which can lead to inefficiencies and potential damage.
Innovation Solution
A transfer system with two independently movable picking arms, each with a picking head, controlled to alternately transfer articles without excessive speed, using orthogonal axes to minimize vibrations and collisions, and incorporating a control unit for synchronized movement and checkpoint acknowledgments to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic arm moves fast to transfer cutting inserts at high speed, then productivity is improved, but vibrations and stress on the transfer system increase
Solution Approach 1:
The transfer system is divided into two separate picking arms that operate alternately. Each arm performs the complete transfer cycle (pick, move, release) in sequence rather than one arm attempting high-speed continuous operation. This segmentation allows each arm to operate at moderate speeds while maintaining high overall productivity through parallel operation cycles.
2Productivity
If the robotic arm moves fast to increase transfer speed, then productivity is improved, but stress on the transfer system increases
Solution Approach 1:
The transfer function is segmented into two alternating arms, each handling complete transfer cycles at moderate speeds. This eliminates the need for single-arm high-speed operation that generates excessive mechanical stress, while maintaining high productivity through coordinated alternating operation.
Solution Approach 2:
The two picking arms operate in periodic alternating cycles, where one arm transfers while the other prepares or completes its cycle. This periodic operation allows each arm to move at moderate speeds with adequate acceleration and deceleration times, reducing mechanical stress while maintaining high overall transfer rates.
3Productivity
If a single robotic arm is used for transfer, then device complexity is low, but productivity is limited
Solution Approach 1:
The system uses two picking arms segmented into alternating operation cycles. Each arm is a complete functional unit capable of independent pick-and-release operations. This segmentation enables doubled productivity compared to a single arm while keeping each individual arm relatively simple in design.
Solution Approach 2:
While one picking arm is transferring an article, the other arm is preparing to pick or completing its transfer cycle. This continuous alternating operation ensures that the transfer system is always productive with no idle time, effectively doubling the transfer capacity compared to a single arm system.
Data Source
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AI summary
The invention relates to a transfer system (1) for transferring pressed articles (9) from a press device (2) to a tray (3) in a powder compaction machine (10). The transfer system includes a first picking arm (61) and a second picking arm (62), wherein the picking arms are independently moveable via respective first and second drive units (51, 52), in at least two transverse directions that are parallel, or substantially parallel, to respective first and second axes (Z, X), and wherein each picking arm (61, 62) includes a picking head (63, 64) at a front end thereof configured to pick up and release a pressed article (9). The transfer system further includes a control unit (4) configured to control the first and second drive units (51, 52) to move the first and second picking arms (61, 62), respectively, between a position in which the picking head (63) is in a pick position (21) for picking up a pressed article (9) from the press device (2), and a position in which the picking head (63) is in a release position (31) for releasing the pressed article (9) onto a surface of the tray (3). The invention also relates to a powder compaction machine comprising such transfer system, and to a method and corresponding computer program for transferring pressed articles in a powder compaction machine.