Cooperative Robot Handling of Indefinite-Shape Objects

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Solution Overview

Problem

Current robot control systems face challenges in stabilizing and conveying indefinite-shape objects, as they often lose balance or fall during transport due to the lack of effective support mechanisms for flexible or amorphous objects.

Innovation Solution

A robot control system comprising two robots and circuitry that cooperatively support and convey indefinite-shape objects by determining optimal supporting positions and movement paths, using attracting devices like suction cups to maintain stability and balance.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If a single robot supports and conveys an indefinite-shape object, then the device complexity is reduced, but the object loses balance or falls during transport

Engineering Contradiction:

Improvenumber of robotsVSAvoidstability of object during conveyance

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The patent divides the support task into multiple segments by using multiple robots, each supporting a different part of the indefinite-shape object. This segmentation allows distributed load bearing and improved stability during conveyance, directly resolving the contradiction between device complexity and reliability.

Inventive Principle:

Principle #1Segmentation

2Reliability

If multiple robots support different parts of the object, then the stability of conveyance is improved, but the device complexity increases

Engineering Contradiction:

Improvestability of object during conveyanceVSAvoidnumber of robots

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent merges the capabilities of multiple robots to work cooperatively on supporting and conveying the object. By combining their support functions at different locations, the system achieves enhanced stability while managing the complexity through coordinated control.

Inventive Principle:

Principle #5Merging (Combining)

3Reliability

If attracting devices are used to support the object, then the object stability is improved, but the use of energy increases

Engineering Contradiction:

Improvestability of objectVSAvoidenergy consumption of attracting devices

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The patent applies attracting devices at specific local positions on the indefinite-shape object rather than uniformly across the entire object. This localized application of attraction forces provides targeted stability support while minimizing overall energy consumption.

Inventive Principle:

Principle #3Local quality

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

The system effectively stabilizes and conveys indefinite-shape objects by distributing the load between two robots, reducing the likelihood of objects falling or losing balance during transport, ensuring a stable and secure conveyance process.

Implementation Method 1

using attracting devices like suction cups to maintain stability and balance

Methodology Applied

Scientific EffectSuction: Suction

Data Source

PatentUS20240424671A1Robot control system, robot control method, and information storage medium

Publication Date: 2024.12.26 YASKAWA DENKI KK

AI summary

A robot control system, comprising: a first robot; a second robot; and circuitry configured to: control the first robot so that the first robot supports a first part of an indefinite-shape object placed at a predetermined location; and control the second robot so that the second robot supports a second part of the indefinite-shape object to convey the indefinite-shape object in cooperation with the first robot, the second part being different from the first part.