Plate Carrying Manipulator Linkage for High-Speed Stable Positioning
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Solution Overview
Problem
Conventional manipulators for high-speed stamping production lines fail to achieve a balance among operating stability, operating speed, and pick-and-place accuracy, leading to lower production efficiency, poor positioning accuracy, and manipulator shaking, resulting in unreliable operations.
Innovation Solution
A plate carrying manipulator with lifting devices, swinging devices, and an end effector, utilizing stepper motors and speed reducers for precise control, enabling smooth and accurate plate handling through a 'herringbone' moving trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional manipulators are used for high-speed stamping production lines, then the structure is simple and ease of operation is maintained, but operating stability deteriorates and manipulator shaking occurs
Solution Approach 1:
The manipulator is divided into multiple independent modules: lifting device with lifting rack and lifting sliding block, swinging device with swinging frame and rocker, follower assembly with connecting rod, and end effector. Each module can be independently controlled and optimized, allowing complex movements to be broken down into manageable segments that maintain stability at high speeds
Solution Approach 2:
The manipulator employs dynamic adjustment mechanisms including rotatably adjustable swinging frames, rotatably connected rockers, and slidably guided connecting rods. These dynamic components allow the system to adapt its configuration during operation, optimizing performance for high-speed while maintaining stability through controlled motion patterns
2Productivity
If conventional manipulators operate at high speed, then productivity increases, but positioning accuracy deteriorates and pick-and-place accuracy decreases
Solution Approach 1:
The follower assembly acts as a passive follower that automatically compensates for position deviations. The connecting rod is slidably guided by the swinging frame, creating a feedback mechanism that self-corrects positioning errors during high-speed operation, maintaining accuracy without sacrificing speed
Solution Approach 2:
The rotatably adjustable swinging frame and rotatably connected rocker create a dynamic linkage system that can adapt its geometry during motion. This allows the manipulator to optimize its kinematic parameters for both high-speed movement and precise positioning, achieving fast carrying speed while maintaining positioning accuracy
3Productivity
If conventional manipulators increase operating speed, then productivity improves, but operating stability deteriorates and manipulator shaking increases
Solution Approach 1:
By segmenting the manipulator into independently controllable modules (lifting device, swinging device, follower assembly, end effector), each component can be optimized for its specific function. The lifting device provides stable vertical motion, the swinging device provides controlled lateral movement, and the follower assembly provides passive stabilization, collectively achieving high speed without shaking
Solution Approach 2:
The follower assembly serves as an intermediary between the active swinging device and the end effector. The slidably guided connecting rod acts as a mediator that filters out high-frequency vibrations while transmitting necessary motion, allowing high-speed operation to proceed without transmitting shaking to the payload
Data Source
AI summary
The present invention discloses a plate carrying manipulator for a high-speed stamping production line, belonging to the technical field of high-speed stamping production lines. The plate carrying manipulator includes two lifting devices, two swinging devices, a follower assembly, and an end effector, where each lifting device includes a lifting rack and a lifting sliding block; each swinging device includes a swinging frame and a rocker; the follower assembly includes a connecting rod connected to the end effector; and a sliding sleeve is rotatably mounted on the swinging frame. By controlling the lifting sliding block to perform lifting adjustment along the lifting rack, a vertical movement can be achieved; by controlling the swinging frames on two sides to swing, the sliding sleeve can be driven to swing; and by controlling the rocker to rotate, the connecting rod and the sliding sleeve can be driven to slide relative to each other.