Dual-Arm Robot End Effector for Jig-Free Workpiece Positioning
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Solution Overview
Problem
Conventional robots require a positioning jig at a predetermined position, which becomes cumbersome when workpieces or details change, limiting flexibility in work line adjustments.
Innovation Solution
A dual-arm robot with independently controllable arms, featuring a restricting member and a workpiece moving member at each hand tip, allows for precise positioning of workpieces without a predetermined jig, using joint shafts and motors to detect contact and adjust positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a positioning jig is provided at a predetermined position, then the robot can perform position adjustment work of the workpiece, but the work line cannot be flexibly changed when workpieces or details change
Solution Approach 1:
The invention extracts and removes the positioning jig from the system. Instead of using a fixed positioning jig at a predetermined position, the robot uses its own end effector to directly hold and position the workpiece. This eliminates the need for separate positioning jigs and enables flexible adaptation to different workpieces without changing or repositioning fixtures.
Solution Approach 2:
The end effector is designed to perform multiple functions: it both holds the workpiece and performs positioning operations. By integrating positioning capability into the end effector itself, the system achieves universality where the same component adapts to different workpiece types and positioning requirements without needing specialized positioning jigs for each case.
2Manufacturing precision
If a positioning jig is provided at a predetermined position, then the robot can perform position adjustment work, but troublesome work of changing the position of the positioning jig is required
Solution Approach 1:
The robot performs positioning operations using its own end effector without requiring external positioning jigs. The end effector itself serves as the positioning tool, eliminating the need for separate positioning devices that would require adjustment and repositioning. This self-service approach allows the robot to adapt to different workpieces immediately without time-consuming jig changes.
3Productivity
If the robot uses a set position coordinate for movement, then the robot can perform automated operations, but subsequent work cannot be appropriately performed when the workpiece position is not strict
Solution Approach 1:
The robot uses vision recognition to detect the actual position and orientation of the workpiece, then feeds this information back to the control system. Based on this feedback, the robot automatically adjusts its movement coordinates and positioning operations to accommodate variations in workpiece placement, maintaining both automated operation efficiency and positioning accuracy.
Data Source
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AI summary
The present invention provides a robot capable of easily performing positioning of a workpiece without providing a positioning jig at a predetermined position. The robot includes: a restricting member configured to restrict a horizontal movement of a predetermined workpiece, the restricting member being provided at a first hand tip provided at a tip end of a first arm; and a workpiece moving member configured to generate an action for horizontally moving the workpiece, the workpiece moving member being provided at a second hand tip provided at a tip end of a second arm. The controller performs a control operation of positioning the workpiece at a stop position in such a manner that: based on predetermined size information of the workpiece and preset stop position information of the workpiece, the restricting member is positioned at a predetermined restricting position included in the stop position for the workpiece, and the workpiece moving member acts on the workpiece and is moved toward the restricting position to horizontally move the workpiece; and the workpiece is brought into contact with the restricting member.