Substrate Conveying Robot Control for Wall Interference Avoidance
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Solution Overview
Problem
Existing substrate conveying robots face interference issues when conveying glass substrates due to their arrangement in spaces surrounded by walls, leading to inefficient substrate transfer.
Innovation Solution
A robot system with a horizontal multi-joint arm and controlled hands that adjust the distance between the center of the hands and the substrate's end surfaces to prevent interference with walls, allowing smooth conveyance by controlling the operations of the hands and arm to maintain uneven distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the robot arm and hand are placed in space surrounded by walls to achieve compact arrangement, then the conveying system becomes more space-efficient, but the workpiece may interfere with the wall during conveyance
Solution Approach 1:
The patent applies asymmetry by positioning the hand asymmetrically relative to the workpiece, specifically offsetting the workpiece from the hand's centerline. This asymmetric arrangement ensures that the workpiece does not contact the wall during conveyance operations within the confined space, resolving the interference problem while maintaining compact dimensions.
Solution Approach 2:
The patent resolves the wall interference issue by utilizing the vertical dimension (Z-axis) to offset the workpiece position. Instead of only adjusting horizontal positioning, the hand is positioned at a specific height relative to the workpiece, creating a three-dimensional solution that prevents wall contact while maintaining efficient space utilization.
2Stability of the object's composition
If the workpiece is positioned at the center of the hand for stable holding, then the gripping stability is improved, but the workpiece may contact the wall during conveyance
Solution Approach 1:
The patent deliberately introduces asymmetry in the positioning relationship between the hand and workpiece. The hand's gripper center is offset from the workpiece center by a predetermined distance in the conveying direction, creating an asymmetric arrangement that prevents wall contact while maintaining sufficient gripping stability through proper force application.
3Device complexity
If the robot operates with standard centering positioning to simplify control, then the control system becomes less complex, but the workpiece cannot avoid wall interference
Solution Approach 1:
The patent implements preliminary action by pre-calculating and setting the optimal offset distance between the hand center and workpiece center before conveyance operations begin. This predetermined offset position is established in advance based on the conveying path and wall positions, allowing the control system to maintain simplicity while effectively preventing wall interference throughout the operation.
Data Source
AI summary
A robot according to this disclosure includes a controller configured to control operations of a hand(s) and a robot arm to convey a workpiece(s) with distances between a center(s) of the hand(s) and end surfaces of the workpiece(s) being uneven so as to prevent interference of the workpiece with a wall.