Dual-Arm Robot Cart Handling With Nested Recess Alignment
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Solution Overview
Problem
The control of a robot system becomes complicated due to variations in the positional relation between the robot and a hand cart, making it difficult to manage the behavior of the cart effectively.
Innovation Solution
A robot system is designed with a first and second robot arm, a moving device, and a control device that allows the robot to move with a cart while gripping it using end effectors, with the cart featuring a recess to receive a part of the robot, simplifying the control by maintaining a stable positional relation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot uses a parallel link mechanism to move the hand cart, then the robot can control the position and attitude of the hand cart, but the positional relation between the robot and the hand cart varies depending on robot operation, making control complicated
Solution Approach 1:
The hand cart's support includes a recess that receives and nests the robot's moving device, creating a stable integrated structure. This nesting arrangement maintains a constant positional relationship between the robot and cart, eliminating the need for complex dynamic control while allowing the robot to move the cart efficiently.
2Productivity
If the robot grips the hand cart using end effectors, then the robot can transport the cart, but the control becomes complicated due to varying positional relations
Solution Approach 1:
The robot's moving device is integrated into the cart's support structure through the recess arrangement, merging the robot and cart into a unified system. This combination maintains stable positional relations during transport, enabling efficient cart movement while simplifying the control system by eliminating the need for complex positional adjustments.
Data Source
AI summary
A robot system includes a robot that includes a first robot arm provided with a first end effector, a second robot arm provided with a second end effector, a moving device on which the first robot arm and the second robot arm are mounted, and a control device; and a cart that includes a first support to which a plurality of wheels are attached, and a gripping portion. The first support includes, at a first end portion of the first support in a first direction, a recess for receiving a part of the robot. The control device causes the moving device to move the robot together with the cart while causing the first end effector and the second end effector to grip the gripping portion in a state where the part of the robot is fitted into the recess.