Tray Conveying with Air-Lubricated Friction Control
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Solution Overview
Problem
Conveying articles exceeding a weight capacity with collaborative robots is challenging due to fluctuating frictional forces between the floor surface and the tray, requiring a consistent method to apply a lateral load that surpasses static and dynamic friction.
Innovation Solution
An article conveying system equipped with a tray, a robot featuring a force sensor, a frictional force reduction device on the floor or tray, and a controller that adjusts friction by applying pressurized air to reduce the frictional force between the tray and floor, allowing the robot to apply a controlled lateral load for stable sliding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a lateral load is applied to the tray to slide it on the floor surface, then the tray can be moved, but the frictional force fluctuates making stable movement difficult
Solution Approach 1:
A frictional force reduction device is introduced as an intermediary between the tray and floor surface. This device includes a fluid supply device that supplies fluid to a frictional force reduction portion, creating a fluid film that mediates the interaction between tray and floor, thereby stabilizing the frictional force and enabling smooth tray movement.
Solution Approach 2:
The frictional force reduction device utilizes pneumatic or hydraulic principles by supplying fluid (gas or liquid) to generate a fluid film between the tray and floor surface. This fluid film reduces and stabilizes frictional force, allowing the tray to slide smoothly without fluctuation caused by direct solid-to-solid contact.
2Speed
If pressurized air is continuously supplied to reduce frictional force, then the tray slides smoothly, but energy is wasted
Solution Approach 1:
The fluid supply device operates periodically rather than continuously. It supplies fluid to the frictional force reduction portion only when needed for tray movement, and stops supply when the tray is stationary or movement is not required. This periodic operation maintains smooth tray sliding while significantly reducing pressurized air consumption and energy waste.
Solution Approach 2:
The system incorporates sensors that detect tray position and movement state, automatically controlling the fluid supply device to activate only when the tray needs to move. This self-service mechanism ensures friction reduction is applied precisely when needed, eliminating continuous energy consumption while maintaining sliding smoothness.
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 system enables stable and efficient conveyance of articles by maintaining frictional forces within predetermined thresholds, ensuring the tray slides smoothly while conserving energy by only using necessary pressurized air, and preventing damage from excessive forces.
Implementation Method 1
a frictional force reduction device provided in at least one of the floor surface or the tray, to adjust a frictional force between the floor surface and the tray
Data Source
AI summary
An article conveying system includes a tray that is disposed on a floor surface and on which an article to be conveyed is mounted, a robot provided with a force sensor that detects an external force, a frictional force reduction device provided in at least one of the floor surface or the tray, to adjust a frictional force between the floor surface and the tray, and a controller that controls the robot to apply a lateral load to the tray and thereby slide the tray on the floor surface, and controls the frictional force reduction device based on a magnitude of the external force in a direction of the lateral load that is detected by the force sensor when the lateral load is applied.