Transfer Apparatus With Elastic Passive Joint

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Solution Overview

Problem

Conventional transfer apparatuses are limited by size and cost due to the need for redundant joints and increased size when handling irregular or deformed articles, and struggle with spatial constraints, especially when articles are stacked in box pallets with intermediate shelves.

Innovation Solution

A transfer apparatus featuring a gripper with an elastic passive joint part that allows linear movement in multiple directions, combined with a conveyor system, enabling compact design and efficient handling of articles by simulating the article's shape and posture, allowing for stable transfer without damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an orthogonal mechanism robot or articulated arm robot is used to grip articles from the upside, then the robot can handle irregular or deformed articles, but the robot size increases and requires more space

Engineering Contradiction:

Improveability to handle irregular or deformed articlesVSAvoidrobot size

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

The robot arm is divided into multiple segments (first arm segment, second arm segment, third arm segment) connected by rotational joints, allowing compact folding configuration while maintaining the ability to reach various positions for handling different article shapes

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robot employs dynamic control of multiple rotational joints to adapt its arm configuration based on the article's shape and position, enabling compact operation in limited space while maintaining versatility for different article types

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If redundant joints are added to avoid existing machines when gripping articles from the upside, then the robot can access articles in box pallets with intermediate shelves, but the robot size and cost increase

Engineering Contradiction:

Improveability to access articles in box pallets with intermediate shelvesVSAvoidnumber of redundant joints

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robot utilizes vertical movement capability through the base lifting mechanism to access articles behind intermediate shelves, reducing the need for additional horizontal joints and simplifying the overall structure while maintaining access capability

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Adaptability or versatility

If a vertically long arm is used to grip articles from the upside, then the orthogonal mechanism robot can handle various article orientations, but the robot cannot be installed in spaces with low roof height

Engineering Contradiction:

Improveability to handle various article orientationsVSAvoidvertical space requirement

Core Design Contradiction:

Adaptability or versatilityVSLength of stationary object

Solution Approach 1:

The robot dynamically adjusts its arm configuration and operational approach based on the article's orientation and position, using a combination of rotational joints and base movement to handle various orientations without requiring excessive vertical clearance

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The conveyor introduces an intermediary transfer stage, allowing articles to be positioned and oriented optimally before final placement, reducing the vertical travel distance required by the robot arm while maintaining handling capability

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables efficient and compact transfer of articles in narrow spaces, reducing the need for redundant joints and minimizing damage, while maintaining stability and versatility in handling various article shapes and orientations.

Implementation Method 1

a transfer apparatus is provided with a gripper, an elastic passive joint part, and a conveyor. The elastic passive joint part is interposed between the gripper and the first driving mechanism, and operates in accordance with an operation of the gripper

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS10793378B2Transfer apparatus and article taking-out method

Publication Date: 2020.10.06 KK TOSHIBA

AI summary

According to an embodiment, a transfer apparatus includes a gripper, a first driving mechanism, an elastic passive joint part, a conveyor, a second driving mechanism, and base. The gripper grips an article. The first driving mechanism linearly moves the gripper in at least two directions including a first direction and a second direction intersecting with the first direction. The elastic passive joint part is interposed between the gripper and the first driving mechanism, and operates in accordance with an operation of the gripper. The conveyor conveys the article. The second driving mechanism linearly moves the conveyor in the at least two directions, and is connected to the conveyor. The base supports the first driving mechanism and the second driving mechanism.