Handling Apparatus Robot Sequence Rearrangement
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Solution Overview
Problem
Existing handling systems for processing workpieces on belt conveyors face inefficiencies due to overlapping image capture and incorrect sequence processing, leading to waste operations and complications in robot operation.
Innovation Solution
A handling system that uses a visual sensor to capture images of workpieces, processes tracking data to identify overlapping portions, and rearranges the work sequence to ensure efficient processing, starting from the downstream side of conveyance, with a control device and method to manage the robot's operations based on actual conveyance states and distances between workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the visual sensor consecutively captures images several times, then the workpiece data is accumulated in the database, but overlapping portions are stored causing waste operations of the robot
Solution Approach 1:
The system uses feedback by comparing newly captured workpiece data with previously stored data to identify overlapping portions. The control device determines whether captured images represent new workpieces or duplicates of previously processed workpieces, and selectively stores only unique data in the database, preventing redundant robot operations.
2Ease of operation
If workpieces are processed in conveyance order, then the processing sequence is simple, but workpieces placed downstream cannot be processed efficiently
Solution Approach 1:
The system dynamically adjusts the processing sequence based on the actual conveyance state. Instead of fixed upstream-to-downstream processing, the control device determines the optimal processing order by analyzing real-time positions and states of multiple workpieces, allowing flexible reordering to maximize processing efficiency while maintaining simplicity.
3Device complexity
If the robot processes workpieces based on sequential database storage, then the control is simple, but overlapping data causes redundant operations
Solution Approach 1:
The control device implements feedback by continuously comparing newly captured workpiece data with existing database entries. When overlap is detected, the system provides feedback to exclude the redundant data from database storage, thereby preventing wasted robot operations while maintaining relatively simple control logic.
4Loss of information
If all captured workpiece data is stored in the database, then complete tracking is achieved, but overlapping portions increase data volume and processing load
Solution Approach 1:
The system uses feedback mechanisms to compare newly captured workpiece data with previously stored data. When overlapping portions are detected through this feedback comparison, the system selectively excludes duplicate data from database storage, thereby maintaining complete and accurate workpiece tracking information while minimizing database volume and processing load.
Data Source
AI summary
A handling apparatus having a belt conveyor (2) for conveying a work (10), a robot (4) for performing a predetermined operation for the work (10), a visual sensor (3) for photographing the work (10) being conveyed to produce work data indicating each work (10) in the photographed image, and a robot controller (5) for gathering the work data for each image thereby to produce a tracking data, and for storing the tracking data in a database, thereby to control the robot (4) with the database so that a predetermined operation is performed on the work (10) transferred to the position of the robot (4). The robot controller (5) performs a predetermined calculation on the work data read out from the database, detects the overlapped work data, and cancels the control of the actions of the robot (4) based on the overlapped work data. The robot controller (5) rearranges the sequences, in which the robot (4) performs the operation on each work (10).