Press Line Robot Entry Control for Collision-Free Transfer
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Solution Overview
Problem
Existing press systems face challenges in avoiding collisions between robots and press devices while maintaining productivity, requiring time-consuming simulations or trial-and-error methods to optimize robot start timings.
Innovation Solution
A press system configuration with multiple press devices and conveyance robots, utilizing a control method that includes storage of interference regions and signal coordination between devices to permit entry based on crankshaft angles and conveyance states, allowing for collision avoidance and improved productivity without pre-operation simulation or repetitive trials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If alternate operation is used to avoid collisions between press devices and robots, then collision avoidance is achieved, but productivity decreases
Solution Approach 1:
The system dynamically adjusts robot start timings based on real-time press device states. The control device receives crankshaft angle signals from press devices and dynamically determines robot start timings, allowing robots to operate as soon as press devices complete their current stroke, rather than following fixed alternate operation schedules. This dynamic coordination enables overlapping operations and improves productivity while maintaining collision avoidance.
2Reliability
If simulation is performed before operating the press system to determine robot start timing, then collision avoidance can be achieved, but time and complexity increase
Solution Approach 1:
The system uses real-time feedback from press devices through crankshaft angle signals to determine robot start timings. The control device continuously monitors the actual operational state of press devices and adjusts robot timing accordingly, eliminating the need for pre-operation simulations. This feedback-based approach provides accurate collision avoidance based on actual system behavior rather than theoretical models.
3Productivity
If trial and error method is used to set robot start timing by actually operating the press system, then optimal timing can be found, but time consumption increases
Solution Approach 1:
The system performs preliminary determination of robot start timings based on press device stroke cycles and crankshaft angle signals before actual robot operation. The control device calculates optimal start timings in advance using the relationship between press device crankshaft angles and robot conveyance cycles, eliminating the need for time-consuming trial and error adjustments during actual operation.
Data Source
AI summary
A press system and method that can easily avoid collisions and improve productivity regardless of a workpiece conveyance pattern by a workpiece conveyance device. Press devices Pn and Pn+1 each send signals corresponding to an angle of a crankshaft to a line controller, and robots Rm, Rm−1, and Rm+1 each send signals corresponding to a state of conveyance of a workpiece to the line controller. The line controller, based on the signals, determines whether to permit entry to each of the multiple regions C1 to C10. It then sends an entry permission signal for each of the multiple regions C1 to C10 to the robot Rm based on determined results, and the robot Rm performs loading or unloading based on the entry permission signal.