Work Hanging Apparatus for Stabilizer Alignment
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Solution Overview
Problem
Existing work hanging systems struggle to accurately hang car stabilizers on hangers due to small, erratically positioned holes and hanger deformation, leading to reduced productivity in coating processes.
Innovation Solution
A work hanging apparatus and method that includes a robot with a hand to hold and position the stabilizer, a controller to guide the hand, a hole deviation detector to correct positional errors, and an attitude deviation detector to correct attitudinal errors, ensuring precise alignment with the hanger hook.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot holds and transfers a work with a small hole to a hanger line, then automation is improved and productivity increases, but manufacturing precision deteriorates because the hole is erratically positioned and the hanger may be deformed
Solution Approach 1:
The system performs preliminary detection of the hole position and hanger attitude before the hanging operation. The hole deviation detector captures the hole position in advance, and the attitude deviation detector measures the hanger attitude beforehand, allowing the controller to pre-calculate correction amounts and adjust the robot's movement trajectory before actual hanging occurs
Solution Approach 2:
The system implements feedback control by detecting the actual hole position and hanger attitude, comparing them with reference values, calculating deviation amounts, and using these deviations to correct the robot's movement trajectory in real-time, ensuring accurate hanging despite initial positioning errors
2Productivity
If the hanger line continuously conveys multiple hangers without stopping, then productivity is improved, but manufacturing precision deteriorates due to hanger deformation from aging and burning processes
Solution Approach 1:
The attitude deviation detector measures the hanger attitude in advance at a detection location upstream from the hanging location. This preliminary detection allows the system to identify hanger deformation caused by aging or burning processes before the hanging operation, enabling pre-correction of the robot's movement trajectory
Solution Approach 2:
The system continuously monitors hanger attitude during conveyance and uses this feedback to dynamically adjust the robot's positioning. The detected attitudinal deviation is fed back to the controller, which calculates correction amounts to compensate for hanger deformation, maintaining hanging precision despite continuous operation
3Extent of automation
If the robot attempts to hang work on hangers with deformed hooks and erratically positioned holes, then automation continues to operate, but manufacturing precision deteriorates leading to failed hanging operations
Solution Approach 1:
The system performs preliminary detection of both the hole position and hanger attitude before the hanging operation. By capturing the hole position in advance and measuring the hanger attitude beforehand, the controller can pre-calculate the necessary trajectory corrections to compensate for misalignment between the hole and hook
Solution Approach 2:
The system uses feedback control to continuously monitor and adjust the robot's movement. The detected positional deviation of the hole and attitudinal deviation of the hanger are fed back to the controller, which calculates correction amounts to ensure the hole aligns precisely with the hook during the hanging operation
Data Source
AI summary
A work hanging apparatus includes a hanger line continuously conveying hangers each having a hook, a robot that has a hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line, a controller controlling a movement of the hand to catch the hook of one of the hangers with the hole of the held work at the hanging location, a hole deviation detector that detects a positional deviation of the hole of the work, an attitude deviation detector that detects an attitudinal deviation of the hanger, and a corrector that corrects the movement of the hand according to the positional and attitudinal deviations.