Detachable Robot Camera for Contaminant Protection
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Solution Overview
Problem
Existing robot systems with integrated cameras for position confirmation and image-taking face performance degradation in adverse environments due to exposure to dust, oil, and other contaminants, and require frequent camera detachment and reattachment for each work piece, leading to inefficiencies in processing.
Innovation Solution
A robot system with a detachable position confirmation camera mounted on a wrist joint, using an automatic tool changer for detachment and a placement portion with bosses for secure positioning, allowing the camera to be detached before moving the work piece into a processing machine, thereby minimizing exposure to contaminants and reducing processing time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the camera is fixedly mounted to the robot arm for position confirmation, then the position confirmation function is continuously available, but the camera is exposed to dust and oil contaminants during work piece processing causing performance degradation
Solution Approach 1:
The system separates the camera into an independent detachable module that can be separated from the robot arm. The camera unit includes a camera body with imaging unit and light source unit, mounted on a movable table that can be detached from the robot arm using an automatic tool changer, allowing the camera to be isolated from contaminant exposure during processing operations
Solution Approach 2:
The camera is extracted from the fixed mounting on the robot arm and placed on a separate movable table. This extraction allows the camera to be positioned close to the work piece for high-quality imaging while being detachable to avoid exposure to dust and oil during machining operations, resolving the contradiction between needing close positioning and avoiding contaminant exposure
2Reliability
If the camera is detachably mounted to allow removal from adverse environments, then camera performance is protected, but the detachment and reattachment process increases processing time
Solution Approach 1:
The camera position is predetermined on the movable table with multiple fixed positions corresponding to different work piece positions. The table can be pre-positioned to align with the robot arm's tool mounting location, so that detachment and reattachment require only simple positioning without complex alignment procedures, minimizing time loss
Solution Approach 2:
The manual or complex mechanical alignment process for attaching/detaching the camera is replaced with an automatic tool changer system that uses predetermined mounting positions and automated positioning mechanisms. This substitution reduces the time and complexity of detachment and reattachment operations while maintaining reliable camera positioning
3Measurement precision
If the camera is positioned close to the work piece for high-quality imaging, then image quality improves, but the camera becomes more vulnerable to contaminants from the processing machine
Solution Approach 1:
The camera system is made dynamic through the movable table that can be detached and repositioned. The camera can be positioned close to the work piece during imaging operations to capture high-quality images, then detached and moved to a safe position away from contaminants during processing operations, allowing both close positioning and contaminant avoidance
Data Source
AI summary
This robot system includes a first imaging portion detachably mounted to a robot arm and a control portion controlling the operation of the robot arm and a grasping portion, and the control portion is so formed as to detach the first imaging portion from the robot arm before moving an object to be grasped that is being grasped by the grasping portion to a prescribed processing position.