Robot Arm Vibration for Bin Picking Workpiece Separation
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Solution Overview
Problem
Conventional robot systems require dedicated jigs or instruments and advanced visual recognition systems to perform bin picking tasks, making it difficult for robots to easily and efficiently take out workpieces without human intervention.
Innovation Solution
A robot with a dual-arm configuration, including a first arm with a hand part and joint shafts, a controller, an imaging unit, and a recognition part that vibrates a table-like body to flatten workpieces and recognizes their positions using two-dimensional pattern matching, allowing for the take-out of workpieces without additional hardware or complex control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot performs bin picking operations, then automation is improved, but device complexity increases due to need for dedicated jigs and advanced visual recognition systems
Solution Approach 1:
The robot arm serves multiple functions: it performs the bin picking operation and simultaneously vibrates the tray to prevent workpiece overlap. This eliminates the need for separate dedicated vibration jigs and reduces overall system complexity while maintaining automation capability
Solution Approach 2:
The patent uses two-dimensional image copying from a camera to recognize workpiece positions and patterns. By capturing an image of the tray contents and analyzing it computationally, the system avoids the need for complex three-dimensional visual recognition systems while achieving accurate bin picking automation
2Productivity
If a robot performs bin picking operations, then productivity is improved, but device complexity increases due to need for dedicated vibration jigs
Solution Approach 1:
The robot arm is designed to perform both the picking operation and the tray vibration function. By integrating these two functions into a single component, the system achieves high productivity through continuous operation without the need for separate vibration devices that would add complexity to the production line
Solution Approach 2:
The robot arm performs periodic vibration movements of the tray at appropriate intervals during the bin picking process. This periodic action prevents workpiece overlap and maintains high productivity by ensuring the tray is always ready for the next picking operation without requiring continuous complex vibration mechanisms
3Measurement precision
If advanced visual recognition systems are used for workpiece recognition, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system captures a two-dimensional image copy of the tray contents and uses computational pattern matching to recognize workpiece positions and orientations. This approach achieves sufficient measurement precision for bin picking operations without requiring complex three-dimensional vision systems, thereby reducing device complexity while maintaining accurate workpiece location detection
Solution Approach 2:
The patent applies partial action by using only two-dimensional imaging rather than full three-dimensional visualization. Since the robot operates from a fixed position and the tray geometry is known, complete 3D recognition is excessive. The 2D image copying provides sufficient precision for the task at hand with significantly reduced system complexity
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 efficient and easy bin picking operations without the need for exclusive jigs or advanced visual recognition systems, allowing robots to replace human labor in work lines with reduced facility costs and increased throughput.
Implementation Method 1
The controller vibrates the table-like body by controlling the first arm so that the first acting part acts on the table-like body
Implementation Method 2
an imaging unit configured to two-dimensionally image a placement surface of the workpieces in the table-like body in a perpendicular direction to the placement surface
Implementation Method 3
a recognition part configured to recognize a position of the workpiece by performing a two-dimensional pattern matching based on an image two-dimensionally captured by the imaging unit
Data Source
AI summary
The robot includes a first arm having a first hand part provided to a tip end thereof, and at least one joint shaft provided between a pedestal and the first hand part, a first acting part configured to contact a given table-like body on which a plurality of workpieces are able to be placed, while the first acting part is provided to the first hand part, a controller, an imaging unit configured to two-dimensionally image a placement surface of the workpieces in the table-like body in a perpendicular direction to the placement surface, and a recognition part configured to recognize a position of the workpiece by performing a two-dimensional pattern matching based on an image two-dimensionally captured by the imaging unit. The controller vibrates the table-like body by controlling the first arm so that the first acting part acts on the table-like body.