Robot Assembly Following Control for Moving Vehicle Bodies
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Solution Overview
Problem
Existing work robot systems face inefficiencies due to the need to stop conveying devices to assemble components, leading to decreased work efficiency, especially when handling large objects like vehicle bodies.
Innovation Solution
A work robot system that includes a robot, a control device, and a following sensor, which allows the robot to perform predetermined operations on moving objects by controlling the robot to move components or tools to an approach start position without interfering with obstacles, and then using the following sensor to guide the component or tool to follow the moving target portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the conveying device stops to assemble a component to an object, then the robot can perform assembly operations, but the work efficiency decreases
Solution Approach 1:
The robot performs pre-approach control to move the component to an approach start position before the object arrives, and prepares the component in advance. This preliminary positioning allows the robot to be ready for immediate assembly when the object stops, eliminating waiting time and improving work efficiency while maintaining assembly accuracy
Solution Approach 2:
The system dynamically adjusts the robot's movement and positioning based on the object's position and movement state. The robot transitions between different control modes (pre-approach control, following control, assembly control) depending on the operational phase, enabling smooth continuous operation without fixed stopping points, thereby improving productivity while ensuring reliable assembly
2Productivity
If the robot moves the component close to the target portion during object movement, then work efficiency improves, but interference with obstacle portions may occur
Solution Approach 1:
The assembly process is divided into distinct control phases: pre-approach control, following control, and assembly control. During pre-approach control, the robot positions the component at a safe approach start position that does not interfere with obstacle portions. During following control, the robot tracks the target portion while maintaining safe distances from obstacles. This segmentation allows efficient continuous operation while preventing harmful interference
Solution Approach 2:
The system continuously monitors the object's position and movement state through following sensors, and the control device adjusts the robot's component positioning in real-time based on this feedback. This closed-loop control ensures the component remains optimally positioned for assembly while automatically avoiding interference with obstacle portions, thus maintaining both high productivity and safety
3Productivity
If the robot performs operations on a moving object, then productivity increases, but positioning precision becomes more difficult to maintain
Solution Approach 1:
The following sensor creates a real-time copy or representation of the target portion's position and movement characteristics. The control device uses this copied information to calculate and adjust the robot's component positioning, enabling the robot to accurately track and align with the moving target portion without physical contact, thus maintaining high positioning precision while operating on moving objects
Solution Approach 2:
The system replaces traditional mechanical positioning and alignment methods with sensor-based following control and computational algorithms. Instead of relying on mechanical guides or fixed positioning mechanisms, the robot uses following sensors to detect the target portion's position and computational control to adjust its component positioning in real-time, achieving both high speed and high precision in assembly operations on moving objects
Data Source
AI summary
A work robot system including a robot configured to perform an operation on a target portion of an object, and a following sensor used to detect, in sequence, at least a position of the target portion being moved, wherein a control device is configured to perform a pre-approach control that moves the component or the tool to an approach start position where the component or the tool does not interfere with a portion to be an obstacle of the object, and a following control that brings the component or the tool placed at the approach start position close to the target portion, and uses an output of the following sensor so as to follow the target portion that is being moved, and the portion to be the obstacle is a portion other than the target portion of the object.