Multi-Robot Part Support Control for Flexible 3D Assembly
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Solution Overview
Problem
Existing part support systems are not adaptable to products with varying types or sizes, as they are typically dedicated to specific products and require extensive preparation, making them inefficient for supporting parts in products with complex, curved three-dimensional shapes.
Innovation Solution
A part support apparatus comprising a frame with multiple support robots and a control unit that allows for the positioning and posture adjustment of support units, enabling the support of parts with different types and sizes by changing the form patterns of the robots and using a multiaxial robot system for cooperative operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If dedicated jigs are used to support parts for specific products, then manufacturing precision and stability are improved, but adaptability to different product types and sizes deteriorates
Solution Approach 1:
The patent applies universality by designing a support apparatus that can accommodate multiple product types and sizes through adjustable support units. The control unit stores form patterns for different products and automatically adjusts the support units to match the required configuration, enabling one apparatus to serve multiple functions rather than requiring dedicated jigs for each product type.
Solution Approach 2:
The patent implements dynamics by making the support units adjustable and reconfigurable. The support units can change their positions, orientations, and configurations dynamically based on the product being manufactured. This dynamic adaptability allows the system to maintain high positioning precision across different product types without requiring fixed dedicated jigs for each product.
2Manufacturing precision
If dedicated jigs are prepared for each product, then manufacturing precision is improved, but preparation time and device complexity increase
Solution Approach 1:
The patent applies preliminary action by pre-storing form patterns for multiple products in the control unit. These form patterns contain the necessary configuration data for supporting different product types. When a new product is to be manufactured, the system retrieves the pre-stored form pattern and automatically configures the support units, eliminating the need for manual jig preparation and significantly reducing setup time.
Solution Approach 2:
The patent uses copying by creating virtual models (form patterns) of different products and storing them in the control unit. Instead of physically preparing dedicated jigs for each product, the system copies the geometric and positional information from these virtual models to configure the support units, thereby maintaining manufacturing precision while avoiding the time-consuming process of physical jig preparation.
3Adaptability or versatility
If multiple support robots are used to support various parts, then adaptability to different product configurations is improved, but device complexity and control difficulty increase
Solution Approach 1:
The patent applies merging by integrating multiple support robots into a unified system controlled by a single control unit. The control unit coordinates the movements and positions of all support robots based on the selected form pattern, managing the complexity centrally. This allows the system to handle diverse product configurations through multiple robots while maintaining manageable complexity through centralized control and automated coordination.
Data Source
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AI summary
A part support apparatus (1) for supporting a plurality of parts which form a product by being connected to each other includes a plurality of support robots (3A - 3H) arranged in a work space (S) and supporting the plurality of parts, a control unit (6, 61a) controlling the plurality of support robots, and a storage unit (61b) storing a form pattern of each support robot corresponding to a type of a product. Each of the plurality of support robots includes a support unit (30) supporting a part, and a multiaxial robot (31) to which the support unit is attached, and which changes the posture and position of the support unit. The control unit controls the posture and position of each support unit by the multiaxial robot based on the form pattern, such that the plurality of parts are arranged to be connectable to each other.