Parallel Link Robot Hand with Swing-Up Mechanism
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Solution Overview
Problem
Conventional container-aligning apparatuses face challenges in changing the posture of workpieces without causing damage, especially when dealing with elongated workpieces that are fallen sideways, as they may collide with engaging members during posture adjustment.
Innovation Solution
A parallel link robot system equipped with a hand featuring a holder and a swing-up mechanism that extracts and holds workpieces from an extraction portion, then swings them up around a turning axis to change their posture, ensuring the workpieces are stood upright without collision, using a servo motor and reducer for precise control and torque enhancement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional container-aligning apparatuses are used to change the posture of workpieces, then the workpiece can be moved from one position to another, but the workpiece may collide with engaging members during posture adjustment causing damage
Solution Approach 1:
The patent introduces a parallel link robot as an intermediary device between the workpiece and the traditional engaging members. The robot's multi-axis linkage mechanism provides a smooth, collision-free path for posture adjustment, eliminating direct contact between the workpiece and rigid engaging members that cause damage.
Solution Approach 2:
The parallel link robot employs dynamic motion control with multiple degrees of freedom, allowing the workpiece to be rotated and positioned through coordinated movement of several robotic arms. This dynamic approach replaces static, rigid posture adjustment mechanisms that cause collisions.
2Manufacturing precision
If traditional robot mechanisms are used for posture change, then the structure can be simple, but the precision and control during workpiece handling is insufficient
Solution Approach 1:
The parallel link robot divides the posture control function into multiple independent robotic arms, each responsible for specific degrees of freedom. This segmentation allows precise control of each movement component while maintaining overall system coordination through centralized control.
Solution Approach 2:
The parallel link mechanism serves multiple functions simultaneously: it provides precise positioning, orientation control, and collision-free motion paths. The same robotic structure handles both extraction and posture adjustment, eliminating the need for separate mechanisms.
3Stability of the object's composition
If workpieces are extracted and positioned using conventional methods, then the extraction can be completed, but the workpiece orientation may be unstable causing interference with already-placed items
Solution Approach 1:
The parallel link robot system incorporates sensors and control systems that provide real-time feedback on workpiece position and orientation. This feedback enables continuous adjustment during the placement process, ensuring stable orientation and preventing interference with already-placed items.
Solution Approach 2:
The robot performs preliminary orientation adjustment before final placement, ensuring the workpiece is correctly positioned and stabilized prior to contact with the placement surface. This preliminary action prevents subsequent adjustments that could cause interference with other items.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively changes the posture of workpieces from a fallen to a standing position, preventing damage and ensuring accurate placement on a conveyor system, maintaining the workpiece's posture during insertion into boxes, even with unstable orientations, and avoiding interference with already-placed items.
Implementation Method 1
using a servo motor and reducer for precise control and torque enhancement
Implementation Method 2
using a servo motor and reducer for precise control and torque enhancement
Data Source
AI summary
A hand for parallel link robot includes: a holder configured to extract a workpiece from an extraction portion and hold the workpiece; and a swing-up mechanism portion configured to swing the workpiece held by the holder up centering around a turning axis to change a posture of the workpiece. A parallel link robot includes: a link mechanism portion; and the hand mounted to the link mechanism portion.