Robot Follow Control for Workpiece Position Range Correction
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Solution Overview
Problem
In production systems, the robot's operable range is exceeded when the workpiece transfer speed is not accurately transmitted or changes rapidly, leading to the robot being unable to follow the workpiece within its operational limits.
Innovation Solution
A production system with a determination unit that checks if the workpiece position relative to the robot has exceeded its operable range and a position compensation unit that adjusts the workpiece transfer device or robot moving device to maintain the workpiece within the operable range by controlling speed or direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moving device moves the robot at the same speed as the workpiece in synchronization, then the robot can perform predetermined work on the workpiece while following the workpiece, but the position of the workpiece relative to the robot may exceed the operable range of the robot when the transfer speed changes rapidly or measurement is delayed
Solution Approach 1:
The determination unit continuously monitors the relative position between workpiece and robot in advance to detect potential exceedance of the operable range. By performing this determination continuously rather than periodically, the system proactively identifies position deviations before they cause operational failures, allowing the robot moving device to adjust speed in advance to maintain the workpiece within the robot's operable range.
Solution Approach 2:
The system implements a closed-loop feedback mechanism where the determination unit continuously measures the relative position, compares it against the operable range thresholds, and provides real-time feedback to the robot moving device. This feedback loop enables dynamic speed adjustment to maintain position control accuracy even when workpiece transfer speed changes rapidly, ensuring the robot remains within its operable range while maintaining continuous operation.
2Device complexity
If the transfer speed of the workpiece is measured in a predetermined cycle, then the system can operate normally with periodic updates, but the robot moving device cannot respond to rapid changes in transfer speed occurring within a period shorter than the measurement cycle
Solution Approach 1:
The system employs continuous periodic determination of the relative position between workpiece and robot. Rather than relying on periodic transfer speed measurements from external systems, the determination unit performs its own continuous periodic measurements directly, creating a high-frequency feedback loop that responds rapidly to position changes while maintaining measurement system simplicity through standardized periodic sampling.
3Ease of operation
If the robot moving device adjusts speed based on measured transfer speed values, then the robot can follow the workpiece during normal operation, but the position control fails when measurement data is not transmitted due to unexpected troubles
Solution Approach 1:
The determination unit functions as a self-contained monitoring system that independently determines relative position without relying on external transfer speed measurement transmissions. By performing its own determination and generating control signals directly, the system maintains automatic speed following capability even when external measurement systems fail, ensuring operation continuity through self-sufficient position monitoring.
Data Source
AI summary
The purpose of the present invention is to provide a production system in which it is possible to cause a robot to follow a workpiece so that the position of the workpiece never exceeds an operable range of the robot. This production system comprises a workpiece transport device that transports a workpiece, a robot, and a robot movement device that causes the robot to move, the production system being such that when the workpiece is transported by the workpiece transport device, the robot is moved by the robot movement device and performs an operation while following the workpiece, wherein the production system has: a determination unit that, while the robot is moving so as to follow the workpiece, determines whether the position of the workpiece relative to the robot has exceeded an operable range in which the robot can operate on the workpiece; and a position correction unit that, when it is determined by the determination unit that the position of the workpiece relative to the robot has exceeded the operable range, controls driving of the workpiece transport device and/or the robot movement device to correct the position so that the position of the workpiece relative to the robot enters the operable range.