Movable Light Receiver Picking for Irregular Stacked Workpieces
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Solution Overview
Problem
Existing picking devices struggle to accurately recognize and pick workpieces when the distance from the sensor is long, especially when workpieces are stacked irregularly, have varying sizes or shapes, or are mixed, leading to inaccurate distance measurements and picking failures.
Innovation Solution
A picking device with a movable light receiver and adjustable distance capability, controlled by processors to calculate, specify, and adjust the distance to the workpiece, allowing for accurate alignment and picking of target workpieces regardless of their position in the stack.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the distance from the sensor to the workpiece is kept constant to ensure the entire container upper surface can be image-captured, then the measurement coverage is improved, but the measurement precision deteriorates when the workpiece size becomes smaller or the distance needs to be closer for appropriate resolution
Solution Approach 1:
The light receiver is made movable with respect to the workpiece through a mover mechanism, allowing the distance to be dynamically adjusted based on the specific picking requirements and workpiece characteristics, rather than maintaining a fixed constant distance
Solution Approach 2:
The distance parameter between the light receiver and workpiece is changed dynamically based on the size and type of workpiece being picked, allowing optimization of measurement precision for different workpiece sizes while maintaining appropriate coverage
2Ease of operation
If the distance is always kept constant with respect to the uppermost workpiece, then the control simplicity is improved, but the adaptability deteriorates when workpieces have different sizes, shapes, or stacking states requiring different picking priorities
Solution Approach 1:
The system dynamically determines the light receiver distance based on the specified picking target workpiece and region, rather than using a constant distance, enabling adaptation to different workpiece conditions while maintaining manageable control through automated determination
Solution Approach 2:
The distance parameter is changed according to the specific picking requirements, workpiece size, shape, and stacking state, allowing the system to adapt to various picking scenarios including different priorities for workpieces at different positions
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
Enables precise identification and picking of workpieces by dynamically adjusting the distance to the light receiver, ensuring accurate alignment and successful retrieval even when workpieces are not at the top or have irregular stacking, thereby improving picking accuracy.
Implementation Method 1
a light receiver that receives reflected light from a workpiece stacked in the workpiece holder
Data Source
AI summary
A picking device includes: a workpiece holder in which a plurality of workpieces is stacked; a light receiver that receives reflected light from a workpiece stacked in the workpiece holder; a mover that relatively moves the light receiver with respect to the workpiece in such a manner that a distance between the light receiver and the workpiece is adjustable; an arm that picks the workpiece; a first hardware processor that calculates a distance between the light receiver and at least one workpiece among the plurality of workpieces; a second hardware processor that specifies a workpiece as a picking target among the plurality of workpieces or a region where the workpiece exists; and a third hardware processor that adjusts a distance between the light receiver and the workpiece calculated by the first hardware processor by controlling the mover in the region specified by the second hardware processor.