3D Workpiece Holding Point Selection to Avoid Adjacent Pickup
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing workpiece holding technologies face challenges in handling a variety of workpieces without attracting and holding unintended adjacent workpieces, particularly when the highest height position is near the target workpiece.
Innovation Solution
A workpiece holding apparatus and method that utilizes 3D information to identify candidate holding points, considers the presence of other workpieces within a predetermined range, and selectively controls the holding process to avoid attracting unintended workpieces by using a robot arm and 3D vision sensor to ensure precise workpiece handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the highest height position is used as the holding point, then the workpiece can be held stably, but other workpieces near the highest height position may be attracted together with the target workpiece
Solution Approach 1:
The patent segments the workpiece detection process into two distinct phases: first identifying the target workpiece's highest height position, then separately checking for other workpieces within a predetermined range of that position. This segmentation allows the system to evaluate holding stability and unintended attraction risks independently, resolving the contradiction between reliable holding and avoiding harmful side effects.
Solution Approach 2:
The patent applies preliminary anti-action by performing a preliminary check for other workpieces within the predetermined range before finalizing the holding point selection. If other workpieces are detected near the highest height position, the system proactively adjusts the holding point to a different location on the target workpiece, preventing the harmful effect of unintended attraction before it occurs.
2Measurement precision
If 3D model pattern matching is used to determine holding points, then accurate workpiece positioning is achieved, but the system cannot handle a wide variety of workpieces requiring individual model creation
Solution Approach 1:
The patent replaces the need for creating individual 3D model patterns for each workpiece type with a universal 3D sensing approach. Instead of copying complex geometric models for different workpieces, the system uses a standardized 3D measurement process to detect the actual highest height position of any workpiece, achieving both precision and versatility.
Solution Approach 2:
The patent changes the approach from geometric pattern matching to height parameter-based selection. By focusing on the vertical dimension (highest height position) rather than complex 3D shape matching, the system maintains measurement precision while significantly improving adaptability to handle diverse workpiece geometries without requiring individual models.
3Productivity
If the holding point is selected without considering nearby workpieces, then the holding process is simple and fast, but adjacent workpieces may be accidentally attracted and held
Solution Approach 1:
The patent implements preliminary action by performing a preliminary detection step to identify other workpieces within the predetermined range of the target workpiece's highest height position. This preliminary check is integrated into the holding process flow, allowing the system to quickly assess and avoid unintended attraction while maintaining overall process efficiency through automated decision-making.
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
Prevents unintended workpieces from being attracted and held by focusing on candidate holding points where no other workpieces are present, ensuring accurate and efficient workpiece handling.
Implementation Method 1
The robot arm 2 has an end effector 23 that non-contactly attracts (sucks) and holds a workpiece
Implementation Method 2
The robot arm 2 has an end effector 23 that non-contactly attracts (sucks) and holds a workpiece
Data Source
AI summary
A workpiece holding apparatus include holding means for attracting and holding each workpiece in turn from among workpieces placed in a 3D space; first information acquisition means for acquiring 3D information of workpieces; candidate calculation means for calculating, based on the acquired 3D information of the workpieces, candidate holding points, the candidate holding points being, when the holding means holds each of the workpieces in turn, candidates for a holding point of that workpiece; second information acquisition means for acquiring information about each of other workpieces present within a predetermined range from each of the candidate holding points on the workpieces; and control means for selecting one of the candidate holding points based on the information about the workpiece acquired by the second information acquisition means, and controlling the holding means so that the holding means holds the workpiece at the selected candidate holding point.