Single-Arm Dual-End-Effector Transfer of Plate-Shaped Objects
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Solution Overview
Problem
Existing robots require two arms to grip and transfer plate-shaped objects, which can be inefficient and complex.
Innovation Solution
A control method for a robot that uses a single robot arm with two effectors to grip and transfer plate-shaped objects by positioning both effectors on either side of the object, moving one effector to grip an end portion, and then transferring the object to a destination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If two robot arms are used to grip and transfer plate-shaped objects, then the object can be securely held, but the operational complexity and number of arms required increases
Solution Approach 1:
The patent combines two end effectors into a single integrated end effector assembly. This merged structure allows both gripping functions to be performed by one robot arm, reducing system complexity while maintaining the secure holding capability through coordinated action of both effectors on the same object
Solution Approach 2:
The single end effector assembly is designed to perform multiple functions: it can grip plate-shaped objects using both effectors simultaneously, and can also adapt to grip other object types. This multi-functional design eliminates the need for separate specialized grippers while maintaining reliable object handling
2Reliability
If two robot arms are used to transfer plate-shaped objects, then the gripping stability is improved, but the operational efficiency decreases
Solution Approach 1:
By merging two end effectors into one integrated assembly mounted on a single robot arm, the patent enables simultaneous gripping of plate-shaped objects with both effectors. This maintains gripping stability while improving operational efficiency by eliminating the need for coordinated movements of two separate arms
Solution Approach 2:
The end effector assembly is pre-configured with both effectors positioned to simultaneously engage with plate-shaped objects. This preliminary arrangement allows the single robot arm to perform what would traditionally require two arms, improving productivity without sacrificing grip stability
Data Source
AI summary
A control method of a robot includes: causing a first robot arm provided in the robot and a second robot arm provided in the robot to move a first end effector of the first robot arm and a second end effector of the second robot arm such that the first end effector and the second end effector are arranged on both sides of a placed plate-shaped object; causing the first robot arm to move the first end effector toward a first end portion of the plate-shaped object, and causing the first end effector to grip the first end portion; and causing the first robot arm to move the first end effector toward a destination position, and causing the first end effector to place the plate-shaped object at the destination position.