End Effector Regrasping Using Temporary Workpiece Marking
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Solution Overview
Problem
Existing handling systems face challenges in accurately repositioning gripping objects, leading to inefficiencies in production environments where precise handling is required.
Innovation Solution
A handling system comprising an end effector with a gripping device, a manipulator for relocating the end effector, a marking device for temporarily marking the gripping object, and a detection device for aligning the end effector with the marking, enabling precise regrasping of the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical sensors are used to detect the workpiece's contour or geometry for precise retrieval, then positioning precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies the copying principle by creating a simplified geometric reference (marking) on the workpiece that replicates the essential positioning information needed for retrieval. Instead of using complex optical sensors to detect the entire workpiece contour, a simple geometric marking is applied that serves as a copy of the critical positioning data, enabling precise retrieval through basic geometric detection rather than complex optical measurement.
Solution Approach 2:
The patent employs cheap short-living objects by using simple, inexpensive geometric markings (such as painted markers or temporary physical features) on the workpiece. These markings are easily applied and removed, replacing the need for expensive, maintenance-intensive optical sensors. The markings serve their purpose for precise positioning and then can be discarded or reapplied as needed.
2Measurement precision
If centering devices are used to position the workpiece, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The patent applies the extraction principle by removing the workpiece from the centering device after initial positioning and transferring it to a handling system equipped with geometric markings. The centering device is used only temporarily to establish initial positioning, then its function is extracted from the overall system. The handling system independently achieves precise retrieval through the geometric markings on the workpiece, eliminating the need for continuous use of complex centering equipment.
3Measurement precision
If the workpiece is held during machining and tracking is performed, then positioning precision is maintained, but use of energy and time increase
Solution Approach 1:
The patent applies preliminary action by applying geometric markings to the workpiece before machining operations begin. These markings pre-establish the reference framework needed for precise retrieval, eliminating the need for continuous tracking during machining. The workpiece can be released after initial positioning since the markings will guide subsequent retrieval operations, reducing the time the manipulator must actively hold and track the workpiece throughout the entire machining process.
Data Source
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AI summary
The invention relates to a method for handling a gripping object (14) by means of a handling system (10) comprising an end effector (12), a manipulator (16), a marking device (22) for marking the gripping object, and a detection device (28) for detecting the marking on the gripping object. The method comprises picking up the gripping object by means of the end effector, marking the gripping object by means of the marking device, placing the gripping object at a storage location, and picking up the gripping object again by means of the end effector, comprising detecting the marking by means of the detection device, aligning the end effector relative to the marking, and gripping the gripping object by means of the end effector. The invention also relates to a handling system and an end effector.