Pick-And-Place End Effector Alignment for Reliable Object Gripping
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Solution Overview
Problem
Automated pick and place apparatuses face challenges in achieving reliable alignment with target objects due to limited information provided by cameras, leading to potential misalignment and unintended contact during the picking operation.
Innovation Solution
An object alignment device with spring-biased alignment projections that extend outward from the end effector, detected by sensors to determine alignment or misalignment with the target object, allowing the processor to control the gripping mechanism accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera-based part identifying technology is used to identify target objects, then the automated pick and place apparatus can locate objects, but alignment precision deteriorates leading to unintended contact during picking
Solution Approach 1:
The patent introduces an alignment device as an intermediary component between the camera system and the end effector. This alignment device includes alignment features (such as alignment pins or mechanical guides) that physically contact the target object to establish precise alignment before the gripping operation. The alignment device acts as a mediator that translates the camera's rough localization into precise mechanical alignment, thereby resolving the contradiction between measurement capability and alignment precision.
Solution Approach 2:
The patent implements preliminary alignment action before the actual picking operation. The alignment device performs alignment operations in advance by engaging alignment features with corresponding features on the target object. This preliminary alignment ensures that the end effector is properly positioned before gripping occurs, preventing unintended contact and improving picking reliability while maintaining measurement precision.
2Speed
If the automated pick and place apparatus moves toward the target object during picking, then the operation speed increases, but alignment accuracy deteriorates due to limited camera information
Solution Approach 1:
The patent replaces reliance on camera-based optical measurement with a mechanical alignment system. The alignment device uses physical alignment features (such as pins, guides, or mechanical interfaces) that directly contact the target object to establish precise position and orientation. This mechanical substitution provides accurate alignment information independent of camera capabilities, allowing the apparatus to move at higher speeds without sacrificing alignment precision.
3Device complexity
If camera-based identification is used, then the system complexity remains low, but alignment information completeness deteriorates
Solution Approach 1:
The patent segments the identification and alignment functions into separate components. The camera system handles initial object identification and localization, while the alignment device handles precise position and orientation alignment. This segmentation allows each component to specialize in its function without requiring a single complex system to perform all tasks, thereby maintaining relatively low overall system complexity while completing alignment information.
Data Source
AI summary
An automated pick and place apparatus includes a robotic arm having at least three degrees of freedom. An end effector is mounted to the robotic arm and includes a gripping device for gripping a target object. An actuator actuates the gripping device. An object alignment device is mounted to the robotic arm. The object alignment device includes a body having a base and an end face opposite the base. An alignment projection is slidingly received by the body within an opening and extending outwardly beyond the end face. The alignment projection has an extended configuration and a retracted configuration. A sensor detects when the alignment projection is in the retracted configuration and provides a signal to a processor.