SCARA Workpiece Transfer With Tilted Holding for Inclined Parts
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing workpiece conveying apparatuses face challenges in achieving high-speed conveyance while maintaining the integrity of inclined portions on workpieces, leading to increased production costs, poor external appearance, and vibration noise, due to limitations in die structure complexity and arm rigidity.
Innovation Solution
A workpiece conveying apparatus with a configuration of two SCARA robots, each comprising a first and second arm, and a workpiece holding device, equipped with a tilt drive mechanism and swivel drive mechanisms, allowing for independent rotation and tilting within the horizontal plane to maintain an inclined posture of workpieces during conveyance, enabling precise placement and orthogonal piercing without complex die structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a vertical articulated robot is used to convey workpieces, then the arm can support the weight of the workpiece, but the joint rigidity increases and the volume and weight are increased
Solution Approach 1:
The patent inverts the conventional vertical articulated robot configuration by using a horizontal articulated robot (SCARA robot) where the arm swings within a horizontal plane rather than vertically. This inversion allows the arm to convey workpieces without needing high joint rigidity to support weight against gravity, thereby reducing robot weight and volume while maintaining conveyance capability
Solution Approach 2:
The patent changes the operational plane parameter from vertical to horizontal, allowing the SCARA robot arm to move workpieces in a horizontal plane. This parameter change eliminates the need for high joint rigidity to counteract gravitational force on the arm and workpiece, reducing the robot's overall weight and volume
2Manufacturing precision
If the punch for piercing advances obliquely with respect to the slide raising and lowering direction, then the opening can be formed along the thickness direction of the inclined portion, but the die structure becomes complicated
Solution Approach 1:
The patent applies dynamics by making the die body movable relative to the slide. The die body is configured to move in the sliding direction, allowing the punch to advance obliquely with respect to the slide's raising and lowering direction. This dynamic configuration enables precise piercing along the thickness direction of inclined portions without requiring complex internal die structures
Solution Approach 2:
The die structure is segmented into a die body and a die holder, where the die body can move independently in the sliding direction while the die holder remains fixed. This segmentation allows the punch to achieve oblique advancement relative to the slide motion, enabling precise piercing without complicating the overall die structure
3Stability of the object's composition
If the workpiece is placed horizontally after release, then the workpiece can be stable, but the distal end side contacts first causing the held portion to fall out and increase vibration noise
Solution Approach 1:
The patent applies dynamics by tilting the workpiece holding device relative to the horizontal plane. This dynamic positioning allows the workpiece to be held at an inclined angle during conveyance, and when released, the workpiece maintains its inclined posture, causing the proximal end to contact the placement surface first rather than the distal end, preventing the held portion from falling out and reducing vibration noise
Solution Approach 2:
The workpiece holding device is configured with an asymmetric tilt angle relative to the horizontal plane, creating an inclined holding posture. This asymmetric configuration ensures that when the workpiece is released, the proximal end contacts the placement surface before the distal end, preventing instability and vibration noise that would occur with symmetric horizontal placement
Data Source
Figure 1
Figure 2A~2D
Figure 3
AI summary
A workpiece conveying apparatus 1 for a pressing machine includes: a first arm 11 supported so as to be rotatable within a substantially horizontal plane; a second arm 12 supported on the first arm 11 so as to be rotatable within the substantially horizontal plane; a workpiece holding device 3 supported on a distal end side of the second arm 12 so as to be rotatable within the substantially horizontal plane; a first arm drive mechanism DM1 configured to drive the first arm 11 to rotate; a second arm drive mechanism DM2 configured to drive the second arm 12 to rotate with respect to the first arm 11; a workpiece holding device rotation drive mechanism DM3 configured to drive the workpiece holding device 3 to rotate with respect to the second arm 12; and a tilt drive mechanism TM configured to drive the workpiece holding device 3 to rotate with respect to the second arm 12.