Dual-Arm Robot Guide Tool for Moving Workpiece Positioning
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Solution Overview
Problem
Conventional robots require complex tracking control systems to perform tasks on moving workpieces, which complicates their structure and operation.
Innovation Solution
A robot configuration with a first robotic arm equipped with a guide tool and a second arm with a work tool, controlled by a device that uses timing information to guide the workpiece into the workspace for specific tasks, eliminating the need for tracking control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If tracking control is used to perform work on moving workpieces, then the robot can perform specific tasks on moving workpieces, but the system structure becomes complicated
Solution Approach 1:
The guide tool performs preliminary action by guiding the moving workpiece into the correct position and posture within the workspace before the work tool executes the specific task. This preliminary positioning action eliminates the need for complex tracking control during the actual work execution, as the workpiece is already properly oriented and positioned when the work tool engages it.
Solution Approach 2:
The guide tool acts as an intermediary between the conveyor system and the work tool. It receives the moving workpiece from the conveyor, guides it into the appropriate posture and position, and then transfers it to the work tool for the specific task. This intermediary function simplifies the overall control system by separating the complex motion control (handled by the guide tool) from the task execution (handled by the work tool).
2Device complexity
If timing information control is used instead of tracking control, then the system structure is simplified, but the precision of workpiece positioning must be maintained
Solution Approach 1:
The system replaces complex real-time tracking control with a simpler timing information-based control system. Instead of continuously monitoring and adjusting to the workpiece position, the guide tool uses pre-calculated timing information to guide the workpiece into the correct position based on when it arrives. This substitution maintains positioning precision while dramatically simplifying the control system architecture.
Solution Approach 2:
The timing information for guiding the workpiece is calculated in advance based on the conveyor speed and workpiece dimensions. This preliminary calculation of timing information eliminates the need for complex real-time measurement and adjustment systems, while still achieving precise workpiece positioning through the guide tool's timing-synchronized guidance actions.
Data Source
AI summary
A robot configured to perform a work to a moving workpiece is provided, which includes a first robotic arm provided at a tip end thereof with a guide tool configured to support the workpiece, a second robotic arm provided at a tip end thereof with a work tool configured to perform a specific work to the workpiece, and a control device configured to control operations of the first and second robotic arms. The control device controls the operations of the first and second robotic arms according to timing information for which the workpiece reaches a workspace of the robot so that the guide tool guides the workpiece located in the workspace into the space and the work tool performs the specific work to the workpiece guided into the space.