Repitch Robot Gripper Dynamic Spacing for Workpiece Transfer
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Solution Overview
Problem
In automated mass production systems, efficiently repitching workpieces from a supply carrier with a first pitch to a processing carrier with a second pitch, different from the first, poses a challenge due to the need for precise alignment and spacing adjustments.
Innovation Solution
A method and system utilizing a repitch robot with grippers that translate between two spacings, corresponding to the first and second pitches, to transfer workpieces from supply retainers to processing retainers, ensuring accurate alignment and spacing for subsequent processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If workpieces are transferred from supply retainers with first pitch to processing retainers with second pitch, then repitching function is achieved, but alignment precision deteriorates due to spacing adjustment requirements
Solution Approach 1:
The repitch grippers are designed with dynamic spacing adjustment capability, allowing them to change position during the transfer operation. The grippers can be spaced apart at a first distance for picking up workpieces from supply retainers and at a second distance for placing them in processing retainers, enabling pitch conversion while maintaining alignment precision through controlled motion rather than static positioning
Solution Approach 2:
The system performs preliminary alignment by positioning the repitch grippers at the correct spacing before the actual transfer operation begins. The repitch station is configured to receive both supply and processing carriers with pre-established spatial relationships, allowing the grippers to be pre-positioned for optimal alignment before workpiece transfer commences
2Ease of operation
If repitch grippers are spaced apart to match supply retainer pitch, then workpiece pickup is facilitated, but alignment with processing retainers deteriorates
Solution Approach 1:
The repitch grippers transition dynamically between two spacing configurations during the transfer cycle. When positioned at the supply carrier, the grippers are spaced to match the first pitch for easy workpiece pickup. During movement to the processing carrier, the grippers adjust their spacing to match the second pitch, ensuring proper alignment with processing retainers. This dynamic adjustment resolves the conflict between pickup ease and placement precision
3Ease of operation
If repitch grippers are spaced apart to match processing retainer pitch, then workpiece placement is facilitated, but alignment with supply retainers deteriorates
Solution Approach 1:
The system employs dynamic gripper spacing where the repitch grippers are configured with the second spacing (matching processing retainer pitch) when positioned at the processing carrier for easy placement. The grippers maintain or adjust to the first spacing (matching supply retainer pitch) when positioned at the supply carrier for accurate pickup. This temporal separation of spacing configurations resolves the alignment conflict
4Device complexity
If fixed spacing repitch grippers are used, then device complexity is reduced, but adaptability to different pitches deteriorates
Solution Approach 1:
Rather than using multiple fixed-spacing gripper sets, the invention employs a single set of repitch grippers with dynamic spacing adjustment capability. These grippers can change their relative positioning during operation, allowing one gripper configuration to serve multiple pitch conversion requirements. This dynamic approach provides pitch adaptability while avoiding the complexity of multiple fixed configurations
Data Source
AI summary
A method of processing workpieces in an automated mass production system includes: (a) receiving a supply carrier at a workpiece repitch station, the supply carrier including a plurality of rows of supply retainers, each supply retainer holding a respective workpiece for unloading at the repitch station; (b) advancing a plurality of processing carriers through the repitch station, each processing carrier including a row of processing retainers for receiving respective workpieces unloaded from the supply carrier; (c) operating a repitch robot at the repitch station to repitch and transfer a set of workpieces from respective supply retainers to the respective processing retainers of a respective processing carrier at the repitch station; and (d) repeating the operating step to fill each of the plurality of processing carriers advanced through the repitch station with workpieces from the supply carrier.