Work Robot Synchronization via Force and Position Feedback
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Solution Overview
Problem
Conventional work robot systems face inefficiencies when assembling parts to large objects, as the conveying apparatus must stop, leading to reduced working efficiency and potential damage due to the inability to synchronize the movement of the robot with the object being transferred.
Innovation Solution
A work robot system that includes a conveying apparatus, a robot, a controller, a movement amount detector, and a force detector, where the controller performs force control based on detected values while synchronizing the robot's actions with the object's movement using position and movement information, allowing precise task execution without stopping the conveying apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the conveying apparatus stops to perform assembly tasks, then the robot can precisely assemble parts to the object, but the working efficiency deteriorates due to the stoppage
Solution Approach 1:
The system transitions from a static assembly process (conveying apparatus stopping) to a dynamic one (conveying apparatus moving at constant speed). The robot synchronizes its movement with the object on the conveying apparatus, allowing assembly operations to be performed while the object is in motion, thereby maintaining both precision and productivity
Solution Approach 2:
The control device receives position information from the position detector and movement information from the movement amount detector. It calculates the robot's target position based on this feedback, enabling real-time synchronization between the robot's movements and the object's movement on the conveying apparatus, ensuring precise assembly while the system remains in motion
2Productivity
If the robot moves along with the object during assembly, then working efficiency improves, but control precision becomes difficult to maintain
Solution Approach 1:
The control device continuously receives position information from the position detector and movement information from the movement amount detector. It calculates the robot's target position in real-time based on this feedback, enabling precise control even while the robot is moving with the object on the conveying apparatus
Solution Approach 2:
The system replaces traditional mechanical synchronization methods with a control system that uses position detectors, movement amount detectors, and a control device to calculate and adjust the robot's position dynamically. This substitution of mechanical systems with sensor-based control enables both movement and precision
3Device complexity
If force control is not implemented, then the system complexity reduces, but damage control capability deteriorates
Solution Approach 1:
The control device calculates the robot's target position in advance based on position information and movement information before the robot reaches that position. This preliminary calculation allows the robot to anticipate and adjust to contact forces with the object, providing damage control capability without requiring complex real-time force control mechanisms
Data Source
AI summary
A work robot system including a conveying apparatus that conveys an object in one direction; a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a movement amount detector that sequentially detects the movement amount of the object moved by the conveying apparatus, and a force detector that detects a force generated by contact between a tool supported by the robot and the object. Then, when the predetermined task is performed, a controller performs force control based on a value detected by the force detector while performing control of the robot by use of information about the position of the target portion and a value detected by the movement amount detector.