Rotary Shelf Teaching Correction for Article Storage Robots
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Solution Overview
Problem
Existing article storage apparatuses with rotary shelves face limitations in compensating for hardware deviations and require manual teaching corrections due to narrow spaces, leading to low precision and high teaching failure rates.
Innovation Solution
An article storage apparatus with a transport robot and control unit that calculates positional errors using teaching marks, performs rotational and vertical teaching based on error values, and stores teaching data to enhance precision and reduce failure rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual teaching correction is performed by operator, then teaching can be adjusted, but the narrow space at the upper end makes it impossible for operator to perform the teaching correction
Solution Approach 1:
The patent replaces the manual mechanical teaching correction method with an automated vision-based system. The image capturing part captures images of teaching marks on shelves, and the control unit automatically calculates position coordinates and performs teaching correction without requiring operator access to the narrow upper space.
Solution Approach 2:
The system performs self-teaching correction by automatically capturing teaching mark images, calculating position deviations, and adjusting position coordinates without external operator intervention. The article storage apparatus teaches itself the correct position coordinates through the automated vision system.
2Ease of manufacture
If position coordinates are set using design data, then setup is simple, but the position coordinates may be different from actual coordinates due to hardware deviation
Solution Approach 1:
The system uses teaching marks on shelves as feedback references. The image capturing part captures these marks, and the control unit calculates actual position coordinates based on the captured images, comparing them with design data to identify and correct deviations caused by hardware assembly tolerances.
Solution Approach 2:
The patent uses teaching marks as physical copies or references of the intended shelf positions. By capturing images of these teaching marks and calculating their actual positions, the system creates a mapping between the physical hardware positions and the coordinate system, enabling accurate position coordination despite manufacturing variations.
3Device complexity
If only transport robot movement is used for compensation, then the system is simple, but the article storage apparatus is limited in compensating for hardware deviation
Solution Approach 1:
The patent adds a visual dimension to the compensation system by introducing teaching marks and image capturing. Instead of relying solely on mechanical robot movement compensation, the system uses optical imaging to detect and compensate for position deviations in the vertical and horizontal directions, achieving higher precision compensation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution improves teaching precision and reduces failure rates by compensating for positional errors through rotational and vertical teaching, enhancing process efficiency.
Implementation Method 1
a robot arm configured to load the article on the shelf or unload the article from the shelf and configured to support a teaching jig having an image capturing part for acquiring position data by capturing an image of the teaching mark
Data Source
AI summary
The present disclosure provides an article storage apparatus and a method of controlling the same, which are capable of compensating for a position of a shelf part. The present disclosure may provide an article storage apparatus and a method of controlling the same, which include a method of performing teaching on a shelf in a rotation direction and then performing teaching on a transport robot at the time of performing the teaching on the shelf of the article storage apparatus, thereby implementing high precision and a low teaching failure rate.