Adjustable Robotic End Effector for Molded Workpiece Forming
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In vehicle manufacturing, existing robotic systems face challenges in accurately forming moldable workpieces, as the configuration of the end effector may not be suitable for the changed form of the workpiece after passing through shaping machines, leading to potential deformation and interference with reshaping areas.
Innovation Solution
A robotic system comprising a robot, an adjustable end effector, and a control module that uses cameras and force sensors to capture images and measure forces before and after the workpiece is processed, determining changes in form and adjusting the end effector's configuration accordingly to accommodate the new shape, ensuring proper grasping and reshaping without deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the end effector configuration is fixed for initial grasping, then the grasping operation is simple and quick, but the end effector cannot accommodate the changed form of the workpiece after processing, leading to deformation and interference with reshaping areas
Solution Approach 1:
The end effector configuration is made dynamically adjustable through multiple degrees of freedom (pitch, roll, yaw rotations and radial/axial translations) rather than fixed. This allows the end effector to adapt its configuration to match the changed form of the workpiece after processing, resolving the contradiction between operational simplicity and adaptability.
Solution Approach 2:
The system changes the configuration parameters of the end effector (rotation angles and translation distances) based on the detected workpiece form changes. By adjusting these parameters, the end effector maintains proper grasping posture and avoids deformation or interference with reshaping areas.
2Manufacturing precision
If the end effector configuration is adjusted to accommodate workpiece form changes, then the adaptability and precision are improved, but the system complexity and adjustment time increase
Solution Approach 1:
The system uses vision sensors to detect the actual form of the workpiece after processing and provides feedback to the control system. Based on this feedback, the end effector configuration is automatically adjusted to match the detected form, ensuring high precision while managing system complexity through automated closed-loop control.
Solution Approach 2:
The end effector system performs self-adjustment based on workpiece feedback without requiring manual intervention. The automated adjustment mechanism reduces operational complexity by allowing the system to self-correct and adapt to workpiece variations autonomously.
3Measurement precision
If multiple sensors and adjustment mechanisms are added to the end effector, then the measurement precision and adaptability improve, but the device complexity and cost increase
Solution Approach 1:
The end effector is designed as a multi-functional platform that integrates vision sensors, force sensors, and multiple degrees of freedom adjustment mechanisms. This universal design allows a single system to perform both precise measurement/detection and adaptive adjustment functions, reducing the need for separate dedicated systems and managing overall complexity.
Data Source
AI summary
A robotic system for forming a moldable workpiece is provided. The robotic system includes a robot, an end effector, an adjustment module, and a control module. The robot is configured to pass the workpiece through a machine. The end effector is configured to be attached to the robot and configured to grasp and release the workpiece. The end effector is adjustable to a plurality of different configurations. The adjustment module is configured to determine a change in the workpiece from (a) a first form of the workpiece prior to the passing of the workpiece through the machine to (b) a second form of the workpiece after passing of the workpiece through the machine. The control module is configured to adjust a present configuration of the end effector to a second configuration based on the change in the workpiece from (a) the first form to (b) the second form.