Cooperating Manipulators for Intuitive Workpiece Handling
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Solution Overview
Problem
Current workpiece handling systems lack intuitive and efficient methods for handling and processing workpieces, particularly heavy or deformable items, as they often require cumbersome manual control and lack coordinated multi-robot collaboration.
Innovation Solution
A workpiece handling system featuring at least two cooperating manipulators, where one manipulator is manually guided and the other is automatically controlled to mirror its movements, allowing for synchronized or mirrored operations in multiple axes, enabling intuitive handling and processing of workpieces with force and torque control, compliance control, and adaptive movement strategies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple manipulators are used to handle workpieces, then handling capability and productivity are improved, but system complexity and control difficulty increase
Solution Approach 1:
The patent combines multiple manipulators into a coordinated system where they work together to handle workpieces. The control device integrates the operation of multiple manipulators, allowing them to function as a unified system rather than independent units, thereby improving handling capability while managing system complexity through centralized coordination.
Solution Approach 2:
The control device is designed to universally control multiple manipulators with different functions. It can manage manipulators for gripping, positioning, and various processing operations, making the system versatile and adaptable to different workpiece handling tasks without requiring separate control systems for each manipulator.
2Ease of operation
If manual control of manipulators is used, then operational flexibility is improved, but handling efficiency and precision deteriorate
Solution Approach 1:
The system allows for preliminary programming and setup of manipulator operations. Control instructions can be prepared in advance for repetitive tasks, enabling the manipulators to execute pre-planned sequences automatically. This maintains operational flexibility for complex or varying tasks while improving handling efficiency for routine operations through automated execution.
Solution Approach 2:
The control system dynamically adapts between manual and automated operation modes. Operators can switch between direct manual control for flexible, non-routine tasks and automated programmed control for efficient, repetitive tasks. This dynamic capability allows the system to optimize handling efficiency based on the specific requirements of each operation while maintaining operational flexibility when needed.
3Manufacturing precision
If automated control of manipulators is implemented, then handling precision and speed are improved, but adaptability to varying workpiece conditions deteriorates
Solution Approach 1:
The control device incorporates feedback mechanisms that allow manipulators to receive real-time information about workpiece position, orientation, and condition. This feedback enables the automated system to adjust its operations dynamically, maintaining high handling precision while adapting to varying workpiece conditions. The feedback loop allows the system to respond to actual conditions rather than relying solely on pre-programmed instructions.
Solution Approach 2:
The control system can dynamically change operational parameters such as speed, position, and gripping force based on detected workpiece conditions. This allows the automated manipulators to maintain precision while adapting to variations in workpiece geometry, material properties, or positioning tolerances, thereby combining the benefits of automated precision with adaptability to varying conditions.
4Ease of operation
If heavy workpieces are handled manually, then operational simplicity is maintained, but operator safety and fatigue levels worsen
Solution Approach 1:
The manipulators are designed to handle heavy workpieces autonomously without requiring direct manual handling by operators. The automated manipulators perform the physically demanding tasks of lifting, moving, and positioning heavy workpieces, thereby eliminating the safety risks and fatigue associated with manual handling of heavy objects while maintaining operational simplicity through intuitive control interfaces.
Data Source
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AI summary
The system has force-/torque-controlled manipulators (1a, 1b) i.e. lightweight robots, co-operating for handling workpieces (4). The manipulators are automatically controllable and/or programmable by freely programmable control devices (5a, 5b) and a control computer (7) i.e. personal computer, in three or multiple axes. One of the manipulators is arranged in a degree of freedom for a manually guided movement. The control device automatically controls the other manipulator based on the former manually guided manipulator. An independent claim is also included for a method for manipulating workpieces by cooperating manipulators.