Multijoint Mask Transfer Robot for Flexible Printer Routing
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Solution Overview
Problem
Existing mask transfer systems lack efficiency in transferring masks between storage shelves and printers due to limited freedom in setting the transfer route, leading to inefficient movement and potential interference with obstacles.
Innovation Solution
A mask delivery device with a mobile mechanism and a multijoint robot, capable of transferring masks between an accommodating unit and a placement location, allowing for flexible route setting and obstacle avoidance through posture adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a transfer crane or exchange trolley with a fixed direction of movement is used to transfer masks, then the transfer mechanism is simple and reliable, but the degree of freedom to set the mask transfer route is low and masks may not be transferred efficiently
Solution Approach 1:
The patent applies the dynamics principle by replacing the fixed-direction transfer crane with a mobile robot that can dynamically adjust its movement direction and position. The robot moves along a guide rail system, allowing flexible routing between the storage shelf and printer while maintaining mechanical reliability through guided motion constraints.
Solution Approach 2:
The patent introduces additional spatial dimensions by using a three-axis mobile robot (X, Y, Z directions) instead of a single-axis fixed transfer mechanism. This enables the robot to navigate complex three-dimensional space around obstacles and reach multiple pickup/dropoff points along the guide rails, significantly increasing route flexibility.
2Adaptability or versatility
If a mobile robot with multijoint capability is used to transfer masks, then the degree of freedom to set the mask transfer route is high and masks can be transferred efficiently, but the device complexity increases
Solution Approach 1:
The mobile robot incorporates dynamic positioning capabilities with three independent movement axes (X-axis for lateral movement, Y-axis for forward/backward movement, Z-axis for vertical movement). This dynamic structure allows the robot to adapt to different transfer routes and avoid obstacles while maintaining controlled, precise motion through guide rail constraints.
Solution Approach 2:
The mobile robot serves multiple functions: it can pick up masks from different positions along the guide rail, navigate around obstacles, place masks at various locations, and return to starting positions. This multi-functionality replaces the need for multiple fixed transfer mechanisms, reducing overall system complexity while increasing versatility.
3Adaptability or versatility
If masks are transferred frequently between storage shelf and printer, then the variety of masks is accommodated, but the transfer time and loss of time increase
Solution Approach 1:
The mobile robot operates continuously along the guide rail system, moving between the storage shelf and printer without requiring manual intervention or system shutdown. The robot can pick up masks from the storage shelf and deliver them to the printer in continuous sequence, minimizing idle time and maintaining continuous production flow.
Solution Approach 2:
The robot system is pre-configured with guide rails and pickup/dropoff points positioned optimally along the transfer path. This preliminary arrangement of infrastructure allows the robot to execute transfer operations efficiently without needing to plan or adjust its path during each individual transfer, reducing decision time and increasing transfer speed.
Data Source
AI summary
A mask delivery device of the present invention is a device that transfers a mask used when printing solder on a substrate to an accommodating unit that accommodates the mask. The mask delivery device includes a mobile mechanism including a guide extending in a fixed direction along one surface of the accommodating unit having an opening for loading and unloading the mask and a mobile body moving along the guide; and a multijoint robot supported by the mobile body to transfer the mask between the accommodating unit and a placement location away from the accommodating unit.