Robot Bin Picking With Auxiliary Tool Repositioning
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Solution Overview
Problem
Robot-based systems face challenges in grasping objects arranged in corner or wall areas of a receptacle, as existing methods require additional equipment like shaking devices to reposition objects for successful retrieval.
Innovation Solution
A method and device utilizing a robot arm with a gripping device and an auxiliary tool to displace objects from their initial position to a new location within the receptacle, allowing the gripping device to grasp and remove objects that were initially unreachable, employing an object recognition device to determine the need for and execute the displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gripping device is used to separate objects from a receiving container, then objects can be individually gripped and removed, but objects located in corners or wall areas become inaccessible and cannot be grasped
Solution Approach 1:
The patent introduces an auxiliary tool as an intermediary between the gripping device and objects in hard-to-reach positions. This auxiliary tool, mounted on the robot arm, can push or reposition objects from corner or wall areas to accessible locations where the gripping device can then grasp them, effectively mediating the interaction between the gripper and inaccessible objects
Solution Approach 2:
The patent adds a pushing action dimension to the traditional gripping operation. By equipping the robot arm with both gripping capability and pushing capability (via auxiliary tool), the system can operate in multiple dimensions - not only grasping objects directly but also manipulating them into graspable positions, thereby solving the accessibility problem in corner and wall areas
2Ease of operation
If a vibrating device is arranged to move objects into accessible positions, then inaccessible objects can be repositioned, but the device complexity and operational complexity increase
Solution Approach 1:
The robot arm is designed with multi-functionality, serving both as a positioning device and an object manipulation device. The same robot arm that positions the gripping device can also maneuver the auxiliary tool to push and reposition objects, eliminating the need for separate vibrating devices and reducing overall system complexity
Solution Approach 2:
The patent merges the function of object repositioning with the robot arm's existing capabilities. Instead of adding a separate vibrating device, the auxiliary tool integrated on the robot arm combines the repositioning function with the gripping function, simplifying the system architecture while achieving the same effect
3Reliability
If an auxiliary tool is used to move objects to accessible positions, then object separation reliability improves, but the device complexity increases
Solution Approach 1:
The auxiliary tool is designed to be dynamically deployable on the robot arm. Rather than being a permanently fixed complex mechanism, it can be attached or activated only when needed for specific objects in hard-to-reach positions, allowing the system to maintain simplicity for standard operations while gaining enhanced capability when required
Data Source
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AI summary
The invention relates to a method and a device for robot-based singulation of objects from a receiving container (3). The method comprises the following: providing a receiving container (3) in which objects to be singulated are arranged; and singulation of the objects, wherein the objects are individually grasped in the receiving container (3) by a gripping device (6) arranged on a robot arm (4), removed from the receiving container (3) by means of the robot arm (4) while gripped, and released outside the receiving container (3) by the gripping device (6) for placement, transfer, or the like. The singulation further comprises the following: acquiring measurement data for one of the objects (2) in its current position in the receiving container (3) by means of an object recognition device (9) of a control unit (8) associated with the robot arm (4) and the gripping device (6);Determining, using the control unit (8), whether the object (2) in its current position in the receiving container (3) can be grasped by the gripping device (6); relocating the object (2) from its current position to a changed position, different from the current position, in the receiving container (3) using an auxiliary tool (11) arranged on the robot arm (4), if it is determined that the object (2) in its current position cannot be grasped by the gripping device (6), whereby the auxiliary tool (11) is moved by the robot arm (4) to relocate the object (2); acquiring further measurement data for the object (2) in the changed position using the object recognition device (9); determining, using the control unit (8), that the object (2) can be grasped in the changed position in the receiving container (3) using the gripping device (6);and grasping the object (2) by means of the gripping device (6) and moving the object out of the receiving container (3).