Robot Manipulator Box Packing With Contact-Based Gap Reduction
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Solution Overview
Problem
Existing robot systems struggle to efficiently store articles of different shapes into a box with minimal gaps, as they fail to accurately recognize and position each article, leading to inefficiencies in warehouse automation.
Innovation Solution
A robot system with a manipulator that performs specific processes to accurately place and move objects, including placing a first object on a surface, conveying a second object to a non-contact position, and then moving it to contact with the first object, allowing for precise placement and reduction of gaps between articles of varying shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot stores articles into a box based on recognized positions, then the automation work is completed, but gaps between articles remain large due to recognition position deviations
Solution Approach 1:
The robot performs preliminary actions by placing articles at positions that account for anticipated recognition deviations. The control device calculates compensation amounts based on recognized positions and instructs the robot to place articles at adjusted positions, ensuring that even with recognition errors, the final article positions minimize gaps.
Solution Approach 2:
The system uses feedback from the recognition device's detected positions to adjust the storage positioning. The control device receives recognition results, calculates the deviation from ideal positions, and generates compensation instructions to correct these deviations, creating a closed-loop control system that improves positioning accuracy.
2Quantity of substance
If the robot adjusts article positions to reduce gaps, then housing efficiency improves, but the operation time and complexity increase
Solution Approach 1:
The system performs preliminary calculation of optimal article positions and compensation amounts before the actual storage operation. By pre-calculating the adjusted positions based on recognized deviations, the robot can directly execute the placement without time-consuming adjustments during the storage process itself.
Solution Approach 2:
The control device changes the positioning parameters by calculating compensation amounts that adjust the target positions. This parameter adjustment allows the system to optimize article placement for minimal gaps while maintaining efficient operation, as the compensation values are computed once and applied systematically.
Data Source
AI summary
A robot system has a manipulator that conveys a conveying object to a conveyance destination having a bottom surface and a wall surface connected to the bottom surface. The system includes: a first process in which the manipulator puts a first conveying object on the bottom surface of the conveyance destination; a second process in which the manipulator conveys a second conveying object to a position that does not come into contact with the first conveying object on the bottom surface of the conveyance destination; and a third process in which the manipulator moves the second conveying object in the direction of the first conveying object from the position that does not come into contact with the first conveying object, and moves the first conveying object by further moving the second conveying object after coming into contact with the first conveying object.