Suction Head Pressure-Guided Spiral Search for Workpiece Pickup
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Solution Overview
Problem
Existing robot devices with suction heads struggle to stably pick up workpieces that deviate from the predetermined position, especially in directions other than the two horizontal intersecting directions, leading to inefficient search processes and reduced productivity.
Innovation Solution
A control apparatus that includes a suction head and pressure sensor, allowing the robot device to move spirally in a horizontal direction while performing suction operations, estimating the workpiece's position based on compressed air pressure changes, and reattempting to pick up the workpiece in the estimated direction, thereby covering all 360 degrees and reducing unsearched areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the suction head searches for workpiece position by moving in two horizontal intersecting directions only, then the search process is simple, but workpieces deviating in other directions cannot be picked up
Solution Approach 1:
The patent transitions from searching in two horizontal directions (X and Y axes) to adding a vertical dimension (Z axis) by implementing spiral movement. The suction head moves spirally in the vertical direction while maintaining horizontal positioning, enabling coverage of workpieces deviating in three-dimensional space rather than limited to two-dimensional plane
2Ease of operation
If the suction head returns to feeding position for each search point, then the search is systematic, but the search time increases
Solution Approach 1:
The patent implements preliminary action by having the suction head perform spiral movement from the feeding position without returning to it between search points. The systematic search is maintained through controlled spiral trajectories, but the elimination of return trips to the feeding position significantly reduces search time
Solution Approach 2:
The suction head maintains continuous useful action by moving spirally from one search position to another without idle return movements. The spiral trajectory ensures continuous coverage of the search area while eliminating wasted time returning to the feeding position, maintaining systematic search coverage throughout
3Loss of time
If the suction head uses a small search area, then the search is quick, but the workpiece may be missed
Solution Approach 1:
The patent employs spiral movement that covers a progressively expanding area, creating a curved search pattern that efficiently covers larger regions. The spiral trajectory naturally expands the search area from the center outward, ensuring comprehensive coverage while maintaining quick search speed through continuous motion
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
This approach allows for efficient and stable pickup of workpieces by reducing unnecessary movements and quickly identifying the correct position, enhancing the productivity of the robot device.
Implementation Method 1
an air pressure sensor that detects the pressure of the compressed air
Implementation Method 2
a suction head that picks up and holds a component with compressed air
Data Source
Figure 1~3
Figure 4~5A
Figure 5B~5C
AI summary
A control apparatus causes a robot device to move a suction head to a predetermined position at which a workpiece is fed and attempt to pick up the workpiece with the suction head at the predetermined position. Upon determining that the suction head has yet to pick up the workpiece, the control apparatus causes the robot device to rotationally move the suction head spirally in a horizontal direction while causing the suction head to perform a suction operation for the workpiece, and estimates a direction in which the workpiece is located with respect to the predetermined direction based on a change in compressed air pressure during the rotational movement of the suction head. This allows easy and appropriate estimation of the position at which the suction head can stably pick up any workpiece deviating from the predetermined position.