Six-Axis Transport Apparatus for Heavy Object Positioning
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Solution Overview
Problem
Conventional handling robots are limited in their movable range and load capacity, particularly unable to handle objects weighing 1 ton or more, and are not suited for both transport and positioning tasks.
Innovation Solution
A transport apparatus with a table on a rail, a vertically mounted column, an arm, a head, and a jig mounting stage, allowing for reciprocating and rotational movements, driven by mechanisms and motors with revolving wheel bearings, enabling six-axis movement and high-accuracy positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an articulated six-axis robot is used, then positioning capability is provided, but load capacity is limited to 750 kg and cannot handle objects weighing 1 ton or more
Solution Approach 1:
The robot system is divided into two independent parts: a mobile base unit that provides movement and load-bearing capacity, and a separate articulated six-axis robot arm that provides positioning capability. This segmentation allows each component to be optimized independently - the base can be designed for high load capacity while the arm maintains precision positioning, resolving the contradiction between positioning capability and load capacity.
2Stability of the object's composition
If the robot main body is made stationary, then structural stability is improved, but movable range is restricted and cannot move longitudinally or laterally
Solution Approach 1:
The system transitions from a stationary two-dimensional arm movement to a three-dimensional mobile platform. The mobile base unit enables longitudinal and lateral movement, adding a horizontal dimension to the robot's operational space, while the articulated arm maintains vertical positioning capability. This dimensional expansion resolves the contradiction between structural stability and movable range.
3Device complexity
If the robot arm is directly mounted to a reduction gear, then device complexity is reduced, but the reduction gear bears excessive burden and cannot handle heavy objects
Solution Approach 1:
A mobile base unit with its own drive system acts as an intermediary between the ground and the articulated robot arm. This intermediary absorbs the burden of heavy object transport, allowing the reduction gear in the arm to only handle positioning tasks rather than bearing the full load, thus resolving the contradiction between device simplicity and load bearing capacity.
4Weight of moving object
If a transport apparatus is designed for heavy object transport, then load capacity is improved, but positioning precision for welding and coating operations is compromised
Solution Approach 1:
The system separates the heavy object transport function (handled by the mobile base unit) from the precision positioning function (handled by the articulated six-axis robot arm). This functional segmentation allows the transport apparatus to maintain high load capacity while the robot arm provides the precision positioning needed for welding and coating operations, resolving the contradiction between load capacity and positioning precision.
Data Source
AI summary
A transport apparatus includes a table capable of making a lateral reciprocating movement; a column arranged upright on the table so as to be capable of making normal and reverse rotation; an arm protruding sidewise from the column, the arm being capable of making a lateral reciprocating movement and ascending and descending along the column; a head mounted to the tip of the arm so as to be capable of making normal and reverse rotation; and a jig mounting stage mounted to the head so as to be capable of making normal and reverse rotation, thus allowing six-axis movements. A welding robot or a workpiece can be carried on the jig mounting stage and transported while being grasped, and the six-axis movements can be stopped at desired positions, making it possible to perform positioning on the welding robot or the workpiece in terms of orientation, height, etc.