Dual Conveyance Robot Control on a Shared Traveling Table
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Solution Overview
Problem
Existing workpiece processing apparatuses struggle to further suppress collisions between robots installed on the same traveling table.
Innovation Solution
A workpiece processing apparatus with two conveyance robots and a control device that determines the movability of the first robot based on the difference between its next instruction value and the second robot's movement destination position, allowing precise movement control to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots travel on the same traveling table, then productivity is improved, but collision risk increases
Solution Approach 1:
The control device dynamically adjusts the movement permissions of robots based on real-time conditions. Instead of using fixed speed limits or predetermined schedules, the system continuously evaluates robot positions and destinations, and adaptively determines which robots can move and which must wait, optimizing both productivity and safety
Solution Approach 2:
The traveling table is effectively segmented into movable and stationary zones for each robot based on real-time conditions. The control device determines movability for each robot independently by comparing its movement destination with the positions of other robots, allowing each robot to occupy and move within its own safe zone without interfering with others
Data Source
AI summary
A workpiece processing apparatus includes two workpiece conveyance robots capable of traveling on the same traveling table and capable of carrying a workpiece into and out of a processing section, and a control device for performing movement control of the workpiece conveyance robot. The two workpiece conveyance robots include a first robot and a second robot. The control device includes a first determination section configured to determine, from a first difference between a first robot next instruction value which is an instruction value related to a movement control instruction issued to the first robot immediately after a time when a determination as to whether the first robot starts the traveling starts and indicates a movement destination position of the first robot and a second robot movement destination position which is a value related to a movement control instruction executed by the second robot at the time when the determination starts and indicates a movement destination position of the second robot, movability of the first robot by the movement control instruction.