Robot Cell Gripper Handling for Mixed Substrate Stacks

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing substrate handling systems lack adaptability and efficiency in handling diverse requirements for processing stacked substrates, particularly in semi-automatic or fully automatic systems, as they struggle to handle selectively differently stacked substrates and require manual intervention for precise handling and separation.

Innovation Solution

A substrate handling system comprising an infeed system, a processing machine, and a robot cell with dual-arm robots equipped with gripper systems that can selectively handle differently stacked substrates, allowing for semi-automatic or fully automatic operation. The system includes a staging space for substrate piles, gripper systems with multiple degrees of freedom, and pneumatic connections for precise handling and separation, along with a non-stop feeder for continuous processing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual gripper operation is used for substrate handling, then ease of operation is improved, but productivity is reduced due to manual intervention requirements

Engineering Contradiction:

Improveease of operationVSAvoidproductivity

Core Design Contradiction:

Ease of operationVSProductivity

Solution Approach 1:

The system uses sensors to automatically detect substrate pile characteristics and the robot controller autonomously determines gripping parameters and execution steps, enabling the system to serve itself without manual intervention while maintaining ease of operation through automated decision-making

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Manual mechanical gripper operation is replaced with an automated robot system that uses sensors for detection and a controller for autonomous decision-making, substituting human mechanical interaction with an automated electromechanical system that improves productivity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If fixed substrate handling configuration is used, then device complexity is reduced, but adaptability is reduced for diverse substrate requirements

Engineering Contradiction:

ImproveadaptabilityVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system dynamically adapts its gripping strategy by detecting substrate pile characteristics and automatically adjusting gripping parameters, gripper position, and handling steps based on real-time conditions, transforming a static system into a dynamic one that adapts to diverse substrate requirements

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robot system with sensor integration and automated control serves multiple functions: detecting substrate characteristics, determining gripping parameters, executing handling operations, and adapting to different substrate types, making a single system universally applicable to diverse substrate requirements

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Productivity

If automated robot system is implemented, then productivity is improved through continuous processing, but device complexity increases due to multiple components

Engineering Contradiction:

ImproveproductivityVSAvoiddevice complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The system merges the robot manipulator, gripper, sensors for detecting substrate characteristics, and controller for autonomous decision-making into an integrated automated handling system, combining multiple components into a unified system that improves productivity through continuous automated operation

Inventive Principle:

Principle #5Merging (Combining)

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 enables efficient, adaptive, and automated handling of substrates, allowing for continuous processing without interruption, improved handling precision, and reduced manual intervention, accommodating diverse substrate configurations and formats.

Implementation Method 1

a vacuum counter disc (9) for separating and/or counting substrates

Methodology Applied

Scientific EffectVacuum: Vacuum

Implementation Method 2

pneumatic connections for precise handling and separation

Methodology Applied

Scientific EffectPneumatics:

Data Source

PatentUS11485594B2Substrate handling system comprising a robot cell and method for operating the same

Publication Date: 2022.11.01 KOENIG & BAUER AG

AI summary

A substrate handling system including an infeed system for feeding stacked substrates and including a processing machine for processing stacked substrates, and in particular a printing press for printing stacked substrates. A robot cell is provided between the infeed system and the processing machine. The robot cell comprises one or two gripper systems, each for handling a plurality of substrates. The robot cell is configured in such a way, that selectively differently stacked substrates, which are feedable by the infeed system, can be handled.