Bin Picking System with Articulated End Effector for Random Part Handling
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Solution Overview
Problem
Robotic bin picking systems face challenges in handling small and randomly arranged parts due to limited degrees of freedom in the end effector, leading to errors such as collision with the bin and difficulty in grasping, especially when dealing with variable part locations and orientations.
Innovation Solution
A bin picking system with an elongated rod and end effector connected to a robot, featuring additional degrees of freedom provided by a motor positioned close to the end effector, allowing for 360° rotation and improved positioning and orientation capabilities, along with an encoder for precise positioning and a brake for stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the end effector is provided with an elongated rod for picking parts from a box, then the reachability to corner areas is improved, but the degrees of freedom are limited making it impractical for small randomly stored parts
Solution Approach 1:
The end effector is designed with dynamic articulation points that allow real-time adjustment of movement paths. The articulation points enable the end effector to adapt its configuration based on the position and orientation of parts in the box, transforming a rigid structure into a dynamically adaptable one that can reach corner areas while maintaining sufficient degrees of freedom for handling small randomly stored parts
2Stability of the object's composition
If the motor is positioned at a certain distance from the article grippers, then the structural stability is improved, but the precision control of the end effector is reduced
Solution Approach 1:
The control system is segmented into multiple independent control units distributed along the elongated rod. Each segment has its own motor or actuator that can be controlled independently, allowing precise local adjustments while maintaining overall structural stability. This segmentation enables the distal end to achieve high precision control without requiring the motor to be positioned close to the article grippers
3Reliability
If the robot is used for picking parts from a bin, then the repeatability and reliability are improved, but the ability to handle variable part locations and orientations is reduced
Solution Approach 1:
A vision system is integrated with the bin picking system to provide real-time feedback on part locations and orientations. The vision system captures images of the bin contents, processes them to identify part positions and orientations, and feeds this information back to the robot controller. This feedback loop enables the reliable robot to adapt its picking strategy to handle variable part locations and orientations while maintaining its inherent repeatability and reliability
Data Source
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AI summary
The invention provides a bin picking system, often also referred to as handling system or end of arm tool, to be connected to a robot for picking parts out of a bin and putting them somewhere else. The bin picking system comprises an elongated rod, an end effector and a motor in a particular configuration, such that improved handling of parts is achieved. The invention also relates to a bin picking arrangement and set-up comprising such bin picking system and a robot, respectively including a bin comprising a plurality of parts randomly stored therein. The invention further relates to methods for the use of such bin picking system, arrangement and/or set-up.