Pivoting Two-Axis Robot for High-Speed Case Packing
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Solution Overview
Problem
Existing robotic case packing systems face challenges in achieving both speed and accuracy when loading articles from a moving conveyor belt into containers, often requiring multiple robots or complex machinery to accommodate various article quantities and deep containers.
Innovation Solution
A robotic case packing system utilizing a two-axis robot mounted for pivotal oscillation, with a servo motor and drive linkage to provide the third axis of movement, allowing for efficient picking and placing of articles into containers without the need for complex linear slides or additional robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots are used along the conveyor to increase loading speed, then productivity is improved, but device complexity increases
Solution Approach 1:
The robot arm is mounted on a pivot drive shaft that allows dynamic oscillation between conveyor and container positions. This dynamic mounting enables a single robot to perform multiple loading operations by pivoting to different positions, replacing the need for multiple stationary robots.
Solution Approach 2:
The single robot arm serves multiple functions by pivoting to different positions: it can pick articles from the conveyor, transfer them to containers, and service multiple containers in sequence. This multi-functionality replaces what would traditionally require multiple dedicated robots.
2Adaptability or versatility
If multi-axis robots are used to provide flexibility in motion, then adaptability is improved, but device complexity and weight increase
Solution Approach 1:
The motion system is segmented into two independent components: a two-axis robot arm for precise picking/placing movements, and a separate pivot drive shaft for oscillation between positions. This segmentation allows each component to be simpler while achieving combined three-dimensional motion capability.
Solution Approach 2:
The pivot drive shaft adds a rotational dimension to the robot's motion, allowing it to oscillate between the conveyor and container. This additional dimensional movement is achieved through a simple pivot mechanism rather than adding a full third axis to the robot arm itself.
3Adaptability or versatility
If three-axis robots are used to enable vertical movement into deep containers, then adaptability is improved, but speed decreases
Solution Approach 1:
The pivot drive shaft enables rapid dynamic oscillation between conveyor and container positions, allowing the robot to quickly change orientation. This dynamic pivoting mechanism is faster than the typical slow, heavy three-axis robot configurations.
4Adaptability or versatility
If two-axis robots are used with linear slides to add third element of motion, then adaptability is improved, but operating speed is limited and cost increases
Solution Approach 1:
The pivot drive shaft provides dynamic rotational movement that replaces the need for slow linear slides. The oscillating pivot mechanism can quickly transition the robot between positions, maintaining high operating speed while enabling three-dimensional motion capability.
Data Source
AI summary
A robotic case packing system loads articles from a moving conveying system into a container. The system has a pivot drive shaft pivotally connected to a support frame for selective rotation about a selected axis of rotation and has a drive linkage operatively connected between a servo motor and to the pivot drive shaft to selectively pivot the pivot drive shaft. A two-axis-robot is mounted on the pivot drive shaft along the axis of rotation such that movement of the two-axis-robot along its two axes of movement occurs within planes substantially parallel to the axis of rotation. A controller operatively connected to the servo motor is used to selectively actuate the servo motor to rotate the pivot drive shaft in order to enable selective picking and placing of articles with the robotic case packing system.