Elastic Suction Robot Control for Angled Container Picking
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Solution Overview
Problem
Existing techniques for robot suction and holding of objects face challenges in efficiently approaching and securely grasping targets due to interference with containers and limitations in joint movement, leading to reduced success rates.
Innovation Solution
A robot control system that sets an approaching direction for the suction portion to contact the object at an angle different from the normal direction, utilizing an elastic suction member to deform and securely hold the object, while avoiding interference with the container.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot approaches the target object in the normal direction to the suction target surface, then the suction operation is straightforward, but the robot interferes with the container and cannot successfully grasp the object
Solution Approach 1:
The patent inverts the conventional approach by having the suction portion approach the target object from a direction different from the normal direction to the suction target surface. Instead of the suction pad approaching perpendicular to the surface (which causes interference with the container), the system approaches from an oblique angle, allowing the suction portion to contact the target object without colliding with the container walls.
2Adaptability or versatility
If the robot uses a rigid suction portion, then the structure is simple, but the robot cannot adapt to different object shapes and positions
Solution Approach 1:
The patent employs a suction portion with elastic flexibility that can deform during the suction operation. This flexible structure allows the suction pad to adapt to different target object shapes and positions, maintaining effective contact and suction force regardless of the object's orientation or surface characteristics, while avoiding the need for complex adjustable mechanisms.
3Ease of operation
If the robot approaches from an angled direction, then interference with the container is avoided, but the suction operation becomes more complex
Solution Approach 1:
The patent implements dynamic control of the robot's approaching motion, allowing the suction portion to approach the target object from a direction different from the normal direction to the suction target surface. The control system dynamically adjusts the approach angle and trajectory based on the target object's position and the container's geometry, enabling successful suction operations without interference while managing the increased complexity through adaptive control algorithms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the success rate of object suction and transfer by allowing the robot to securely grasp objects with increased flexibility, reducing interference and improving operational efficiency.
Implementation Method 1
a suction portion to come in contact with the target object in a direction different from a normal direction to a suction target surface of the target object and causes the suction portion to suck the target object
Data Source
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AI summary
A processing device controls a robot including a suction portion being elastic to suck and hold a target object. The processing device includes a controller that controls the robot. The controller causes the suction portion to come in contact with the target object in a direction different from a normal direction to a suction target surface of the target object and causes the suction portion to suck the target object.