Claw Gripper Picking Near Wall Sections Without Interference
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Solution Overview
Problem
Existing component moving devices face challenges in stably moving components from a scattered component supply section due to the risk of components falling off and interference with wall sections.
Innovation Solution
A component moving device equipped with a component supply section, a holding tool with claw sections, an imaging section, a calculating section, a setting section, and a control section that calculates the angle for pinching components while avoiding wall section interference, sets a pinching acceptable area, and controls the holding tool to securely grasp components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the holding tool pinches components near the wall section to maximize picking coverage, then the productivity is improved, but the risk of interference with the wall section increases
Solution Approach 1:
The system performs preliminary calculation of the pinching angle and determination of pinching acceptable areas before the actual picking operation. The calculating section computes the angle between the pinching direction and the wall section inner surface, and the determining section identifies safe pinching positions in advance, allowing the holding tool to pick components efficiently without interfering with the wall section.
2Reliability
If the pinching angle is increased to improve component grasping stability, then the reliability is improved, but the pinching acceptable area becomes narrower reducing productivity
Solution Approach 1:
The system dynamically adjusts the pinching angle parameter based on the specific component position and orientation. By calculating the optimal pinching angle for each component rather than using a fixed angle, the system achieves reliable grasping stability while maximizing the pinching acceptable area, thus resolving the contradiction between reliability and productivity.
3Reliability
If the component supply section uses high walls to prevent components from falling off, then the reliability is improved, but the holding tool may interfere with the wall section during picking
Solution Approach 1:
Before the holding tool approaches the component supply section for picking, the calculating section pre-calculates the pinching angle and the determining section pre-identifies the pinching acceptable areas that ensure no interference with the wall section. This preliminary analysis allows the system to maintain high walls for reliable component containment while avoiding interference during the picking operation.
Data Source
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AI summary
A component moving device includes a calculating section configured to calculate an angle at which a direction in which a pair of claw sections pinches a pinching target component, which is a pinching target component to be pinched by the pair of claw sections, and a wall surface intersect based on an image imaged by an imaging section, a setting section configured to set a pinching acceptable area, in which components placed on a component supply surface can individually be pinched by the pair of claw sections while a holding tool is avoiding an interference with a wall section, narrower as the angle calculated at the calculating section gets greater, a determining section configured to determine whether the pinching target component is a pinching acceptable component, which can be pinched by the pair of claw sections of the holding tool while the holding tool is avoiding an interference with the wall section, based on the pinching acceptable area set at the setting section and the image, and a control section configured to control operations of the holding tool and a moving section so that the holding tool pinches and holds the pinching target component, which is determined to be the pinching acceptable component at the determining section.