Multi-Robot Axis Layout for Continuous Workpiece Conveyance
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Solution Overview
Problem
Conventional robot systems face inefficiencies in performing operations like welding and sealing on moving workpieces without interrupting the conveyance process, as they often require complex operation control and may interfere with each other's working spaces.
Innovation Solution
A robot system comprising first and third articulated robots arranged along a transport direction, with a second robot positioned between them, each having a distinct axis configuration allowing simultaneous work from the front, rear, and side surfaces of the workpiece without stopping conveyance, utilizing traveling shafts and end effectors for efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots perform operations on a moving workpiece, then productivity increases, but operation control complexity increases
Solution Approach 1:
The robot system is divided into multiple independent robotic units (first robot, second robot, third robot), each capable of autonomous operation on different surfaces of the workpiece. This segmentation allows parallel processing of welding and sealing operations, increasing throughput while maintaining manageable control complexity for each individual robot unit.
Solution Approach 2:
The patent positions robots in three-dimensional space around the workpiece, with the first robot working on the upper surface, the second robot on the side surface, and the third robot on the lower surface. This spatial dimensionality allows simultaneous operations without interfering with each other's working spaces, thereby increasing productivity while simplifying control by eliminating the need for complex coordination.
2Productivity
If multiple robots work simultaneously on different surfaces of the workpiece, then processing efficiency improves, but interference between working spaces occurs
Solution Approach 1:
The patent utilizes three-dimensional spatial arrangement, positioning the first robot above the workpiece, the second robot at the side, and the third robot below the workpiece. This vertical and lateral distribution in multiple dimensions allows all robots to operate simultaneously on different surfaces without their working spaces intersecting or interfering with each other, thereby maintaining high processing efficiency.
Solution Approach 2:
Each robot is equipped with specialized end effectors tailored to its specific operation and position: the first robot has a welding end effector for upper surface welding, the second robot has a sealing end effector for side surface sealing, and the third robot has a welding end effector for lower surface welding. This local specialization ensures that each robot's working space and function are optimized for its specific task, preventing interference with other robots.
3Productivity
If conventional robot configurations are used, then device simplicity is maintained, but the ability to work on multiple surfaces without stopping conveyance is limited
Solution Approach 1:
The patent employs dynamic axis configurations for each robot that can be adjusted based on the workpiece position and operation requirements. The first robot has a first axis configuration optimized for upper surface operations, the second robot has a second axis configuration for side surface access, and the third robot has a third axis configuration for lower surface work. This dynamic adaptability allows continuous processing during conveyance without requiring the workpiece to stop, thereby increasing productivity while managing complexity through purpose-specific configurations.
Data Source
AI summary
A robot system includes first and third robots arranged along a transport direction in which a workpiece is conveyed, and a second robot arranged between the first and third robots along the transport direction. Each of the first and third robots has a first distal end at which a first end effector is configured to be provided to work on the workpiece and has a plurality of axes arranged in a first axis configuration in which a rotation axis, a pivot axis, a pivot axis, and a rotation axis are arranged in this order from the first distal end. The second robot has a second distal end at which a second end effector is configured to be provided to work on the workpiece. The second robot has a second axis configuration different from the first axis configuration.