Handling System End Effector Positioning via Machine-Readable Marks
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Solution Overview
Problem
Existing handling systems face challenges in accurately picking up gripping objects at the same position and orientation, leading to issues in applications involving multiple processing steps.
Innovation Solution
A method utilizing a handling system with an end effector and a manipulator, where the end effector is coupled and uncoupled from the manipulator using a coupling device, allowing the end effector to remain on the gripping object during deposition and subsequent pickup, maintaining positional accuracy without re-gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If optical sensors are used to detect the contour or geometry of the workpiece for accurate positioning, then manufacturing precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the sensing function from complex optical sensors and implements it through simple mark detection. A machine-readable mark is placed on the workpiece, and a straightforward optical reader detects this mark to determine position and orientation, replacing complex contour detection systems while achieving the same positioning accuracy.
Solution Approach 2:
The patent uses simple, inexpensive machine-readable marks (such as barcodes or data matrices) instead of expensive optical sensors. These marks are easily applied to the workpiece and can be read by simple optical readers, significantly reducing system cost while maintaining positioning accuracy.
2Manufacturing precision
If centering devices are used to deposit the workpiece for accurate positioning, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent removes the need for complex centering devices by extracting the positioning information directly from the workpiece through machine-readable marks. The end effector reads these marks and positions itself accordingly, eliminating the need for separate centering mechanisms.
Solution Approach 2:
The workpiece itself provides the positioning information through machine-readable marks attached to it. The end effector reads these self-provided marks and uses them for accurate positioning, making the system self-sufficient without requiring external centering devices.
3Manufacturing precision
If the manipulator tracks the movement of the workpiece during processing, then manufacturing precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies machine-readable marks to the workpiece before processing begins. These marks contain pre-encoded position and orientation information that the end effector can read and use to maintain accurate positioning throughout the processing operation, eliminating the need for real-time tracking systems.
Solution Approach 2:
The machine-readable marks on the workpiece provide continuous feedback information about the workpiece position and orientation. The end effector reads these marks and adjusts its position accordingly, creating a simple feedback loop that maintains positioning accuracy without requiring complex tracking systems.
4Ease of operation
If the end effector is recoupled to the manipulator for each pickup operation, then ease of operation is improved, but productivity decreases due to repeated coupling and uncoupling
Solution Approach 1:
The patent combines the coupling and positioning functions into a single operation. When the end effector couples to the workpiece, it simultaneously reads the machine-readable marks and positions itself accurately, eliminating the need for separate positioning steps and reducing overall handling time.
Solution Approach 2:
The machine-readable marks are pre-applied to the workpiece, containing all necessary positioning information. When the end effector couples to the workpiece, this information is immediately available for reading and processing, eliminating the need for time-consuming positioning adjustments after coupling.
Data Source
AI summary
A method (and a handling system) for handling a gripping object by a handling system that includes an end effector, a manipulator, and a coupling device for coupling and uncoupling the end effector to/from the manipulator, the method comprising gripping the gripping object the end effector, depositing the gripping object at a deposit location, and picking up the gripping object from a pickup location, wherein, for depositing the gripping object, the end effector is uncoupled from the manipulator so that the end effector remains on the gripping object, and wherein picking up the gripping object from the pickup location comprises coupling the end effector remaining on the gripping object to the manipulator.