Robot-Arm Roller Folding Head With Force Feedback Control
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Solution Overview
Problem
Existing roller seaming heads for robot arms lack compactness and resilience, and there is a need for improved monitoring and quality control in the folding process to enhance the quality of workpieces.
Innovation Solution
A roller seaming head design featuring a base body with a turret and counter roller system, supported by a torque arm and force sensor, allowing for compact and resilient operation, with a force control device to maintain consistent folding forces, enabling precise control and documentation of the folding process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple actively rotatable and displaceable components are arranged on the base body to enable all necessary displacement and rotation movements, then the functionality is complete, but the device becomes less compact and less resilient
Solution Approach 1:
The patent combines multiple functions (displacement and rotation) into a single carriage component. The carriage is displaceably mounted on the base body and can rotate about a vertical axis, integrating what would traditionally require separate components. This merging reduces device complexity while maintaining the necessary adaptability for different machining operations.
Solution Approach 2:
The carriage is designed as a multi-functional component that performs both displacement movements (via the linear guide) and rotation movements (about the vertical axis). This universal component can accommodate different tool positions and orientations, eliminating the need for multiple specialized components and improving both compactness and resilience.
2Device complexity
If the roller seaming head uses a compact design with fewer components, then compactness and resilience are improved, but the ability to perform all necessary displacement and rotation movements may be limited
Solution Approach 1:
The carriage is designed with dynamic capabilities, allowing it to be displaceably mounted on the base body via a linear guide and simultaneously rotate about a vertical axis. This dynamic design enables a compact structure to achieve full range of motion required for various seaming operations, maintaining adaptability while improving compactness.
3Manufacturing precision
If the roller seaming head applies high folding forces to ensure quality, then workpiece quality is improved, but the risk of damaging the workpiece or tooling increases
Solution Approach 1:
The patent incorporates a force sensor that detects the folding force applied during the seaming process. This feedback mechanism allows the control system to monitor the actual force being applied and adjust it accordingly, ensuring that sufficient force is applied for quality folding while preventing excessive force that could damage the workpiece or tooling.
Solution Approach 2:
The force control device adjusts the folding force parameters based on feedback from the force sensor. By dynamically changing the force parameters during the folding process, the system optimizes the balance between applying enough force for quality workpieces and avoiding damage, adapting to different material conditions and folding requirements.
4Manufacturing precision
If the roller seaming head maintains constant folding force throughout the process, then workpiece quality consistency is improved, but the system complexity increases
Solution Approach 1:
The force sensor provides continuous feedback on the folding force being applied, enabling the control system to maintain constant force throughout the folding process. This feedback loop ensures consistent workpiece quality by compensating for variations in material properties, fold position, and other factors that might otherwise cause force fluctuations.
Solution Approach 2:
The patent replaces complex mechanical force regulation mechanisms with a sensor-based feedback control system. Instead of using multiple mechanical components to physically maintain constant force, the system uses electronic sensing and control to achieve the same result, reducing mechanical complexity while maintaining force consistency.
Data Source
Figure 1~2
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AI summary
The invention relates to a roll folding head (1) for mounting on a robot arm. A turret head (9) is rotatably mounted on a slide about a rotational axis (D9), a rotary drive being mounted on the slide, the turret head (9) being rotatable relative to the slide about its rotational axis (D9) by the rotary drive, and the slide being guided on a base body (2) via a linear guide by a displacement drive in the direction of the rotational axis (D9) of the turret head (9) such that in a first displacement position of the turret head (9) a pair of rollers (16) for folding is formed, and in a second displacement position of the turret head (9) a pressure roller (10-13) of the roller pair (16) is at a distance from a counter roller (15).