Robot Conveyor Tracking for Meandering Belt Workpieces
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Solution Overview
Problem
Existing robot systems fail to perform tasks on objects conveyed by belt conveyors when the belt meanders, as they require a correction mechanism that may not be feasible in all setups.
Innovation Solution
A control method for a robot that detects the inclination and position shift of a target object on a meandering belt conveyor, allowing the robot to calculate and adjust its position for task execution without correcting the belt's meandering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a correction mechanism is installed in the belt conveyor to correct meandering, then the robot can perform tasks accurately on target objects, but the device complexity increases and the mechanism may not be installable in all setups
Solution Approach 1:
The patent replaces the mechanical belt correction mechanism with a computational approach. The robot control device calculates the actual position of the target object on the meandering belt by detecting the belt's travel direction and computing the positional deviation, then adjusts the robot's pickup position accordingly. This substitutes complex mechanical correction with software-based position compensation, eliminating the need for physical correction mechanisms while maintaining pickup accuracy.
2Manufacturing precision
If a correction mechanism is installed in the belt conveyor to correct meandering, then the robot can perform tasks accurately on target objects, but the ease of manufacture decreases due to additional installation requirements
Solution Approach 1:
The patent eliminates the need for mechanical correction mechanism installation by implementing a control-based solution. The robot control device detects belt meandering through position detection and calculates compensation values, then applies these to adjust the robot's pickup position. This approach requires no additional mechanical components or complex installations, significantly improving ease of manufacture while maintaining pickup accuracy.
3Adaptability or versatility
If the robot adjusts its position to compensate for belt meandering, then tasks can be performed on meandering belts without correction mechanisms, but measurement precision requirements increase
Solution Approach 1:
The patent implements a feedback-based position compensation system. The robot control device continuously detects the actual position of the target object on the meandering belt using position detection means, compares it with the expected position, calculates the deviation, and adjusts the robot's pickup position accordingly. This closed-loop feedback mechanism enables the system to adapt to belt meandering while maintaining adequate measurement precision through continuous correction.
Data Source
AI summary
A control method for a robot performing a task on a workpiece conveyed by a belt conveyor having a moving belt is provided. The control method includes: causing a first image pickup device to detect an inclination between a first direction serving as a reference for traveling of the belt and a direction in which the belt is traveling, and a first distance that is a distance between the belt and a first reference position in a second direction orthogonal to the first direction at the first reference position; calculating a position of the workpiece as of when the workpiece is moved by the belt conveyor from a first position to a second position away from the first position by a second distance in the first direction, based on the inclination and the first distance detected by the first image pickup unit; and causing the robot to perform a task on the workpiece at the second position that is calculated.