Tilted-Axis Serial Manipulator Layout for Press Brake Accuracy
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Solution Overview
Problem
Existing combinations of press brakes and serial manipulators face challenges in achieving sufficient accuracy, reach, and speed while maintaining a compact configuration to avoid robot singularities and high costs, particularly when the manipulator's workspace is constrained.
Innovation Solution
The first axis of the serial manipulator is tilted towards the press brake, optimizing the manipulator's configuration to enhance reach and accuracy while allowing for a more compact design and efficient tool exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the serial manipulator is positioned at the edges of its work space to increase reach, then the reach is improved, but the accuracy and speed are reduced and robot singularity occurs
Solution Approach 1:
The first axis of the serial manipulator is tilted at an angle between 45° and 90° (preferably 65°-75°, optimally 70°) relative to the base surface, creating an asymmetric configuration. This asymmetric tilt optimizes the distribution of the manipulator's working space, allowing it to achieve sufficient reach for stock position and tool storage station while maintaining compact configurations for high-accuracy operations at the press brake.
Solution Approach 2:
By tilting the first axis, the manipulator's working space is reoriented in three-dimensional space. This dimensional change allows the manipulator to access the press brake and tool storage station effectively while maintaining a more compact configuration during critical positioning operations, avoiding the need to operate at the edges of the work space where singularities occur.
2Length of moving object
If a larger serial manipulator is selected to ensure sufficient workspace, then the reach is improved, but the cost increases
Solution Approach 1:
The tilt angle of the first axis is optimized to 70° (with preferred range 65°-75°) to maximize the efficiency of the manipulator's working space. This parameter optimization allows a smaller, more cost-effective manipulator to achieve the required reach for stock position and tool storage station while maintaining compact configurations for high-speed, high-accuracy operations.
3Productivity
If the serial manipulator operates at high speed, then the productivity is improved, but the accuracy is reduced
Solution Approach 1:
The tilted first axis configuration enables the manipulator to dynamically transition between compact high-accuracy configurations during positioning operations and extended configurations during material handling. This dynamic optimization allows high-speed operation during transport while maintaining high accuracy during critical positioning at the press brake and tool storage station.
Data Source
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AI summary
The invention relates to a combination of a press brake and a serial manipulator having at least six joints, wherein the press brake comprises: - a frame arranged on a base surface; - two beams for clamping press brake tools, said beams being arranged in the frame and being movable towards to and away from each other in a direction perpendicular to the base surface; wherein the serial manipulator comprises a base, having a main plane, on which a first joint of the serial manipulator is arranged, which first joint is rotatable around a first axis (Jl) perpendicular to the main plane; wherein the serial manipulator is arranged at a distance from the press brake; and wherein the first axis (Jl) of the serial manipulator is tilted towards the press brake.