Robot Hand and Engaging Part for Press Brake Die Movement
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Solution Overview
Problem
Existing work processing apparatuses require temporarily placing a work on a temporary space when moving a die, increasing takt time due to the need to release the hand and then hold and move the die separately.
Innovation Solution
A work processing apparatus and method where a carrier robot with a robot arm and wrist mechanism retracts its hand holding a work to a non-interfering position, allowing an engaging part to engage with the die, enabling the robot to move the die while holding the work, thus eliminating the need for temporary placement of the work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the hand releases the work to move the die, then the die can be moved, but the takt time increases due to temporary placement of the work
Solution Approach 1:
The patent merges the work-holding function and die-moving function into a single continuous operation. The hand holds the work while the engaging part simultaneously engages with and moves the die, combining two separate operations (work placement + die movement) into one unified action that occurs without interrupting the work-holding state.
Solution Approach 2:
The engaging part is positioned and ready to engage with the die before the hand releases the work. The system prepares the die-moving capability in advance through the movable mechanism's positioning, allowing immediate engagement and movement without waiting for work release, thus eliminating the time sequence that caused the takt time increase.
2Productivity
If the hand holds the work and moves the die simultaneously, then the takt time is reduced, but the hand and die may interfere with each other
Solution Approach 1:
The patent segments the robot system into functionally independent components: the hand for work handling and the movable mechanism with engaging part for die movement. This segmentation allows each component to operate independently without physical interference, as the engaging part is positioned on the movable mechanism rather than on the hand itself.
Solution Approach 2:
The movable mechanism acts as an intermediary between the hand and the die. Instead of the hand directly interacting with the die, the movable mechanism with its engaging part serves as a mediator that enables die movement while the hand maintains its work-holding function, thus avoiding direct interference between hand and die.
Data Source
Figure 1(a)~1(b)
Figure 2(a)~2(b)
Figure 3(a)~3(b)
AI summary
A work processing apparatus upwardly turns a wrist 55 of a vertical articulated robot 50 to retract a hand 56 that is holding a work W to a position where the hand and work do not interfere with a press brake 10. In this state, an engaging projection 60 arranged at a front end of an upper arm 54 or at the wrist 55 is inserted into an engaging hole 17a of a lower die 17 of the press brake 10 and the vertical articulated robot 50 is operated to move the lower die 17 along a groove of a die holder 15.