Robot Assembly Control for Moving Conveyor Workpieces
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Solution Overview
Problem
In manufacturing processes, particularly when assembling components on large objects like vehicle bodies, conventional conveyor systems often need to be stopped, leading to reduced work efficiency due to the need for precise assembly, which hampers continuous production line operations.
Innovation Solution
A work robot system that includes a conveyor device, a work robot, a measurement robot with a sensor for detecting target part positions, and a force detector, allowing for controlled assembly operations while the conveyor is in motion by performing force control based on detected positions and forces, enabling precise assembly without halting the conveyor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the conveyor device is stopped for precise assembly, then manufacturing precision is improved, but productivity deteriorates
Solution Approach 1:
The patent applies dynamics by enabling the conveyor device to maintain motion during assembly operations. The work robot moves synchronously with the conveyor belt, allowing precise component assembly to be performed on moving objects rather than requiring the conveyor to stop, thus maintaining productivity while achieving assembly precision through dynamic coordination between the robot and conveyor system
Solution Approach 2:
The patent uses feedback mechanisms through sensors that detect the position of target parts on moving objects. The work robot control unit receives this position information and adjusts the robot's movement accordingly, enabling precise assembly operations on the conveyor belt without stopping the production line, thereby resolving the contradiction between manufacturing precision and productivity
2Productivity
If the work robot performs assembly on moving objects, then productivity is improved, but measurement precision deteriorates
Solution Approach 1:
The patent employs feedback through sensors that continuously detect the position of target parts on moving objects. This position information is fed back to the work robot control unit, which adjusts the robot's movements in real-time to maintain accurate positioning despite the conveyor's motion, enabling both continuous production and precise measurement
Solution Approach 2:
The patent replaces traditional mechanical positioning systems with sensor-based detection and control systems. Instead of relying on mechanical stops or fixed positioning mechanisms that would require conveyor shutdown, the system uses sensors to detect object positions and electronically controls the robot's movement, maintaining measurement precision while enabling continuous production
3Manufacturing precision
If force control is implemented during assembly, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent implements force control through feedback from force detectors that monitor contact forces between the work robot's component and the target object. The control unit adjusts the robot's actions based on this force feedback, achieving precise assembly control. While this adds control complexity, it enables accurate assembly on moving objects without requiring mechanical complexity increases
Data Source
AI summary
A work robot system includes, a work robot and a work robot control unit that perform work on a target part of an object conveyed by a conveyer device, a measurement robot, a sensor that is attached to the measurement robot and that detects a position of a detection target of the object conveyed by the conveyer device, a measurement robot control unit that moves, through control of the measurement robot, the sensor in accordance with conveyance of the object, in order to detect the position, and a force detector that is used when force control is performed. When the work robot performs the work, the work robot control unit performs force control while performing control of the work robot based on a detection result of the sensor.