Sensor-Guided Robot Force Control for Moving Part Attachment
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Solution Overview
Problem
In production lines, attaching parts to large objects like vehicle bodies using conveying apparatuses often requires stopping the apparatus, leading to inefficiencies due to the need for precise alignment and movement synchronization between the robot and the object.
Innovation Solution
A work robot system that includes a conveying apparatus, a robot with sensors and force detectors, and a controller that performs force control based on sensor data to accurately attach parts to moving objects, allowing tasks to be performed while the object is in motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the conveying apparatus is stopped to attach parts to large objects with precision, then manufacturing precision is improved, but productivity deteriorates
Solution Approach 1:
The system transitions from static (stopped conveying) to dynamic (moving conveying) operation. The robot performs part attachment tasks while the conveying apparatus moves, allowing continuous production without stopping. The moving device adjusts robot position dynamically to maintain precise alignment with target portions on moving objects.
Solution Approach 2:
The system uses sensors to detect the position of target portions on moving objects and feeds this information back to the controller. The controller adjusts the robot's position and movement in real-time based on this feedback, maintaining precise part attachment accuracy even while the conveying apparatus is in motion.
2Productivity
If the robot performs tasks on moving objects, then productivity is improved, but manufacturing precision deteriorates
Solution Approach 1:
The moving device acts as an intermediary between the robot and the conveying apparatus. It transfers the robot along the rails at the same speed as the conveying apparatus, creating a stable reference frame for the robot relative to the moving object. This intermediary mechanism enables precise part attachment while maintaining continuous motion.
Solution Approach 2:
The system replaces traditional mechanical positioning methods with sensor-based detection and controller-based coordination. Sensors detect target portion positions on moving objects, and the controller coordinates robot movement with conveying apparatus motion, substituting mechanical synchronization with intelligent control.
3Productivity
If the robot moves along rails at the same speed as the conveying apparatus, then productivity is improved, but device complexity increases
Solution Approach 1:
The moving device serves multiple functions: it positions the robot along the conveying apparatus, synchronizes robot movement with object conveyance speed, and enables the robot to access different target portions on moving objects. This multi-functional design reduces the need for separate positioning and synchronization systems.
Data Source
AI summary
A work robot system including a conveying apparatus that conveys an object, a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a controller that controls the robot, a sensor that is attached to the robot and successively detects a position, relative to the robot, of the target portion of the object being conveyed by the conveying apparatus, and a force detector that detects a force generated by a contact between the object and a part supported by the robot. When the robot is performing the predetermined task, the controller performs force control based on a detection value of the force detector while controlling the robot by using a detection result of the sensor.