Multi-Hand Robot Assembly Layout to Prevent Hand Interference
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Solution Overview
Problem
Conventional automated assembly systems using robots with multiple hands face inefficiencies due to the need for tool changers, which increase cycle time, and are limited in their ability to perform jobs by orthogonal robots, leading to space inefficiencies and hand interference.
Innovation Solution
An automated assembly apparatus with a robot having multiple hands movable in X-axis and Y-axis directions and workbenches with independent Z-axis movement, where the width of specific work areas is optimized to allow hand entry while others are restricted, and hands are positioned to avoid interference by being at different Z-axis levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tool changer is used to change hands or tools on a single robot, then the robot can perform multiple jobs, but the cycle time increases due to the inconvenient changing process
Solution Approach 1:
The system divides the robot functions into multiple independent hands (first hand, second hand, third hand) that can operate simultaneously without requiring tool changes. Each hand is equipped with different tools (grasping tool, screwdriving tool, adhesive application tool) and can perform different jobs independently, eliminating the time-consuming tool changer operation while maintaining versatility.
2Reliability
If hands are sufficiently spaced away from each other to prevent interference, then hand interference is avoided, but the space required for performing jobs increases
Solution Approach 1:
The system resolves hand interference by utilizing the vertical dimension (Z-axis) rather than only horizontal spacing. The first hand is positioned at a lower level while the second and third hands are positioned at an upper level, allowing hands to operate in different vertical planes. This dimensional separation enables hands to be closer horizontally without interfering with each other, reducing the overall space required for job performance.
3Adaptability or versatility
If an articulated robot with perpendicular and parallel hand arrangements is used, then multiple jobs can be performed, but orthogonal robots cannot perform jobs and space efficiency decreases
Solution Approach 1:
The system employs a dynamic hand positioning mechanism where the movable platform can shift between a first position and a second position. At the first position, the first hand operates on a first workpiece while the second and third hands are positioned to avoid interference. At the second position, the hands are reconfigured for different job configurations. This dynamic repositioning enables orthogonal robots to perform multiple jobs efficiently while optimizing space utilization.
Data Source
AI summary
An automated assembly apparatus, system and method of use thereof, characterized by comprising an assembly robot having a plurality of hands, the plurality of hands being movable in an X-axis direction and a Y-axis direction by an X-axis moving unit and a Y-axis moving unit, and a plurality of workbenches which are provided with Z-axis moving unit and which are movable in a Z-axis direction by the Z-axis moving unit. A work area is independently provided for the plurality of workbenches, a width of a predetermined work area among the work areas is larger than clearance widths of the plurality of hands, widths of the work areas other than the predetermined work area are smaller than the clearance widths of at least some of the plurality of hands, and the hand which performs a job on the predetermined work area is disposed at a lowermost level in the Z-axis direction.