Multi-Arm Door Robot for Open-Door Vehicle Painting
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Solution Overview
Problem
Existing painting systems face challenges in efficiently painting vehicle doors while maintaining an open state during conveyance due to spatial constraints and the need for precise door manipulation.
Innovation Solution
A door opening/closing robot system with a multi-arm configuration, including a base, first, second, third, and fourth arms, and a tool, positioned between the conveyance line and booth side wall, capable of opening and closing vehicle doors along the conveyance direction, controlled by a controller to maintain door openness during painting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a door opening/closing robot is installed on the conveyance line, then door opening/closing operations can be performed, but it occupies conveyance space and reduces productivity
Solution Approach 1:
The robot base is positioned off the conveyance line in the lateral direction, between the conveyance line and booth side wall. This spatial repositioning allows the robot to perform door operations without occupying conveyance space, resolving the contradiction between operational capability and productivity.
2Productivity
If the robot base is positioned between the conveyance line and booth side wall, then space is saved, but the robot arm range of motion is limited
Solution Approach 1:
The robot arm is divided into multiple segments (first arm, second arm, third arm, fourth arm) connected by rotation joints. This segmentation allows each segment to rotate independently, providing sufficient range of motion and flexibility for door operations despite the constrained base position.
3Manufacturing precision
If multiple arms are used to achieve precise door manipulation, then door operation precision is improved, but device complexity increases
Solution Approach 1:
The multi-arm robot structure serves multiple functions: the first arm provides lateral movement, the second arm provides vertical movement, the third arm positions the tool, and the fourth arm orients the tool. This universal structure handles both door opening and closing operations, as well as maintaining door openness during conveyance, justifying the complexity through functional versatility.
Data Source
AI summary
A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.