Robot Force Threshold Control for Machining Moving Workpieces
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Solution Overview
Problem
Existing robot systems face challenges in efficiently performing tasks on moving workpieces without stopping the conveyor, leading to potential robot failure and workpiece deformation due to external forces from speed differences during machining operations.
Innovation Solution
A robot system with a control processor, detection circuit, and determining circuit that monitors and manages external forces on the robot body, allowing it to adjust its actions to mitigate these forces and prevent failure or deformation, while also enabling cooperative work between robots with different workable ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot performs work on a moving workpiece without stopping the conveyor, then productivity is improved, but the robot may be subjected to excessive external force causing failure or deformation
Solution Approach 1:
The robot controller continuously monitors external force applied to the robot body during machining operations. When the detected external force exceeds a predetermined threshold, the controller automatically interrupts the machining operation, preventing robot failure or workpiece deformation while maintaining continuous conveyor operation.
2Adaptability or versatility
If multiple robots with different workable ranges are used, then the range of tasks that can be performed is improved, but coordination complexity increases
Solution Approach 1:
A higher-level controller acts as an intermediary to coordinate multiple robots with different workable ranges. The higher-level controller assigns machining tasks to appropriate robots based on workpiece position and robot capabilities, simplifying the coordination complexity while maximizing task coverage.
Data Source
AI summary
A robot includes a robot body, a control processor, a detection circuit, a memory, and a determining circuit. The control processor is configured to control the robot body to perform a work on a workpiece while the workpiece is conveyed. The detection circuit is configured to detect external force which the robot body receives from the workpiece. The memory is to store a threshold force. The determining circuit is configured to determine whether the external force is equal to or larger than the threshold force.