Robot End Effector Orientation on Parts With Unknown Geometry
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Solution Overview
Problem
Conventional robots require detailed numeric descriptions and time-consuming teaching operations to perform tasks on parts with unknown or unquantified geometry, leading to increased costs and operational challenges.
Innovation Solution
The method involves collecting a spatial representation of the part using an imaging device, aligning a raster scan pattern, defining normality vectors, and moving an end effector along this pattern to perform operations without prior knowledge of the part's dimensions, allowing for efficient operation on parts with unknown geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robots are used to perform operations on parts with unknown geometry, then detailed numeric descriptions and teaching operations are required, but this increases operational complexity and costs substantially
Solution Approach 1:
The patent replaces traditional mechanical teaching operations and numeric description systems with an imaging-based spatial representation system. The robot uses imaging devices to capture spatial data of the part, processes this data to generate a spatial representation, and then uses this representation to automatically determine operation locations and paths, eliminating the need for manual teaching and complex numeric descriptions.
Solution Approach 2:
The patent creates a spatial representation (a digital copy or model) of the physical part based on imaging data. This spatial representation serves as a virtual model that the robot can analyze and use for planning operations, replacing the need for physical measurement and manual programming of part geometry.
2Ease of operation
If manual training is performed to navigate robots to various locations on parts, then the robot can perform desired operations, but this increases time consumption and operational costs
Solution Approach 1:
The robot performs self-training by automatically capturing spatial data of the part using imaging devices, processing this data to create a spatial representation, and using this representation to autonomously determine navigation paths and operation locations. This eliminates the need for external manual teaching and significantly reduces training time.
Solution Approach 2:
The patent performs preliminary spatial data collection and processing to create a complete spatial representation of the part before actual operations begin. This preliminary action includes capturing images, generating spatial models, and identifying all potential operation locations in advance, which enables rapid execution of operations without time-consuming real-time decision-making.
3Manufacturing precision
If detailed numeric descriptions are provided to the robot, then the robot can control motion and locate operations, but this requires well-defined part geometry that is not always available
Solution Approach 1:
The patent transitions from static, pre-defined numeric descriptions to a dynamic spatial representation system that adapts to the actual part geometry. The spatial representation is generated dynamically based on imaging data of the specific part instance, allowing the system to accommodate variations in part geometry while maintaining precise operation location determination.
Solution Approach 2:
The patent changes the fundamental parameters used for robot control from fixed numeric descriptions (coordinates, dimensions) to spatial relationship parameters derived from imaging data. This includes using relative positions, orientations, and geometric features extracted from images, which can adapt to any part geometry while maintaining the precision needed for accurate operations.
Data Source
AI summary
Methods of performing a plurality of operations within a region of a part utilizing an end effector of a robot and robots that perform the methods are disclosed herein. The methods include collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part. The methods also include defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector. The methods further include moving the end effector relative to the part and along the predetermined raster scan pattern. The methods also include orienting the end effector such that an operation device of the end effector faces toward each operation location along a corresponding normality vector and executing a corresponding operation of the plurality of operations with the operation device.