Contact-Sensor Trajectory Control for Arbitrary Workpiece Positioning

Solution Overview

Problem

Existing trajectory control systems for industrial robots, such as dispensers and welders, rely on expensive and complex high-resolution cameras or image sensors to correct positional displacement and movement of workpieces, which is not economically viable for all applications.

Innovation Solution

A trajectory control device that uses a contact sensor to detect the position of a workpiece's side surfaces and calculates XY coordinates by transforming reference position data, eliminating the need for high-precision cameras or image sensors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If high-resolution cameras or image sensors are used for trajectory control, then measurement precision is improved, but device complexity and cost increase

Engineering Contradiction:

Improvetrajectory detection precisionVSAvoidsensor system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces optical sensing systems (cameras and image sensors) with a mechanical contact sensor system. The contact sensor physically touches the workpiece surface to detect position and trajectory information, substituting complex optical measurement systems with simpler mechanical contact-based detection.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent employs inexpensive contact sensors instead of expensive high-resolution cameras or image sensors. The contact sensor system provides adequate measurement precision for trajectory control at a fraction of the cost of optical systems.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

2Measurement precision

If high-resolution cameras or image sensors are used for trajectory control, then measurement precision is improved, but system cost increases

Engineering Contradiction:

Improvetrajectory detection precisionVSAvoidsystem cost

Core Design Contradiction:

Measurement precisionVSEase of manufacture

Solution Approach 1:

The patent employs inexpensive contact sensors instead of expensive high-resolution cameras or image sensors. The contact sensor system provides adequate measurement precision for trajectory control at a fraction of the cost of optical systems.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Solution Approach 2:

The patent replaces optical sensing systems (cameras and image sensors) with a mechanical contact sensor system. The contact sensor physically touches the workpiece surface to detect position and trajectory information, substituting complex optical measurement systems with simpler mechanical contact-based detection.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Device complexity

If contact sensors are used instead of high-precision cameras, then device complexity is reduced, but measurement precision may deteriorate

Engineering Contradiction:

Improvesensor system complexityVSAvoidtrajectory detection precision

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent replaces optical sensing systems (cameras and image sensors) with a mechanical contact sensor system. The contact sensor physically touches the workpiece surface to detect position and trajectory information, substituting complex optical measurement systems with simpler mechanical contact-based detection.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The contact sensor system uses the workpiece itself as the measurement reference by detecting physical contact points on the workpiece surface. The trajectory control is achieved through direct mechanical interaction with the workpiece, eliminating the need for external complex sensing systems.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS11376734B2Trajectory control device

Publication Date: 2022.07.05 SMC CORP

AI summary

A trajectory control device includes: a contact sensor that can contact side surfaces of a workpiece; an actuator that moves a trajectory tracking member and the contact sensor; and a trajectory controller that calculates XY coordinates of a trajectory on the workpiece that is placed in an arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position. The positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor.