End Effector Guide Groove Angles Peel Release Paper
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Solution Overview
Problem
Existing end effector technologies require precise control to peel off release paper from adhesive sheets, which can be complex and inaccurate for robot devices.
Innovation Solution
An end effector with a housing and rotary unit, including a needle, that uses a guide groove with specific angles to guide the movement of a first support, allowing the needle to pierce and scoop up the release paper, simplifying the peeling process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a dual arm robot is used to peel off release paper by hand manipulation, then the workpiece can be positioned and processed, but the operation requires precise control and is complex to automate
Solution Approach 1:
The end effector is designed to automatically perform the peeling operation through its own mechanical structure. The guide groove and first support work together to enable the needle to automatically pierce and scoop up the release paper without requiring precise manual control or complex robot programming, making the system self-sufficient for the peeling task
Solution Approach 2:
The needle acts as an intermediary tool between the robot arm and the release paper. Instead of the robot arm directly manipulating the paper, the needle serves as a mediating element that pierces and scoops up the paper through the guide groove mechanism, simplifying the control requirements
2Manufacturing precision
If precise control is used to peel off release paper, then accurate peeling can be achieved, but the robot operation becomes complex and difficult to control
Solution Approach 1:
The guide groove is designed with specific angular relationships (θ1 and θ2) that dynamically guide the first support and needle through predetermined motion paths. This dynamic geometric constraint ensures accurate peeling while eliminating the need for complex control algorithms, as the accuracy is built into the mechanical geometry itself
3Device complexity
If a simple end effector structure is used, then device complexity is reduced, but the ability to effectively peel off release paper is compromised
Solution Approach 1:
The end effector is segmented into distinct functional components: the housing with guide groove, the first support, and the needle. This segmentation allows each component to perform its specific function simply and effectively, achieving reliable peeling through coordinated simple parts rather than a complex integrated structure
Solution Approach 2:
The guide groove is pre-configured with specific angle relationships (θ1 + θ2 > 180°) that preliminarily determine the motion path of the first support and needle. This preliminary geometric setup ensures that when the needle moves along the guide groove, it automatically achieves the correct piercing and scooping angles for effective peeling
Data Source
AI summary
An end effector connectable to a robot arm for peeling off release paper includes a housing including a guide groove having a start position S, an intermediate position M, and an end position E and a rotary unit including a needle and a first support movable along the guide groove. Assume that a line segment connecting the start position S and the intermediate position M is defined as a line segment SM, a line segment connecting intermediate the position M and the end position E is defined as a line segment ME, an angle formed between the line segment SM and a horizontal direction when the end effector is placed on a floor surface is defined as θ1, and an angle formed between the line segment SM and the line segment ME is defined as θ2, θ1<θ2<θ1+180° is satisfied.