Multi-Joint Robot Link Mechanism Asymmetry for Compact Workpiece Transfer
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Solution Overview
Problem
Conventional workpiece transfer systems become larger and require more space when dealing with an increased number of cassettes, as the elongation of the multi-joint industrial robot's arm and link parts leads to interference with the workpiece processing apparatus and cassettes.
Innovation Solution
A workpiece transfer system design where the rotation centers of the base-side and arm joint parts are shifted away from the middle position between the workpiece processing apparatus and cassettes, allowing the link mechanism to fold in a direction opposite to the shifted position, preventing collisions and maintaining a compact system layout.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the arm part, arm-side link part, and base-side link part are elongated to access more cassettes, then the robot can handle more cassettes (4-FOUP unit or more), but the interference area in the Y-direction is enlarged, requiring more installation space
Solution Approach 1:
The patent changes the motion trajectory of the arm joint part from a conventional arc-shaped path to a straight line path that is substantially perpendicular to the direction of loading and unloading workpieces. This dimensional change in the motion path allows the robot to access more cassettes (increasing versatility) without requiring elongation of the arm parts, thereby maintaining a compact interference area.
2Ease of operation
If the rotation centers are positioned at the middle position between workpiece processing apparatus and cassettes, then the robot can access both sides equally, but the link joint part protrudes and causes interference with the workpiece processing apparatus or cassettes
Solution Approach 1:
The patent positions the rotation centers of the base-side link part and arm joint part asymmetrically, shifted from the middle position between the workpiece processing apparatus and cassettes. This asymmetric positioning allows the link joint part to fold in a direction away from the workpiece processing apparatus, eliminating interference while maintaining equal accessibility to both sides through the straight-line motion trajectory.
Data Source
AI summary
A workpiece transfer system may include a plurality of cassettes for storing workpieces, at least one workpiece processing apparatus, and a multi-joint industrial robot for loading and unloading workpieces to/from the cassettes. The multi-joint industrial robot may include a hand part for holding a workpiece, an arm part supporting the hand part so as to make the hand part rotatable, and a link mechanism that supports an arm joint part, positioned at a base side of the arm part, so as to make the arm joint part rotatable.