Robot End Effector Sequencing for Flexible Workpiece Turnover
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Solution Overview
Problem
Existing robots face difficulties in efficiently turning over workpieces with flexibility, as they struggle to sandwich and rotate such workpieces due to their inherent stiffness, making the process complex and operationally challenging.
Innovation Solution
A robot system comprising a first robot arm, a first end effector, and a controller that reverses the arrangement of a sheet-shaped workpiece's end portions to turn it over by executing holding, lifting, lowering, and rotary operations, allowing the workpiece to be turned over simply and effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot uses two hand portions to sandwich a flexible workpiece from both sides to turn it over about a rotation axis, then the workpiece can be turned over, but it is difficult to apply this method to workpieces having flexibility
Solution Approach 1:
The patent divides the flexible workpiece into two portions and uses two separate hand portions to hold each portion independently. This segmentation allows each hand portion to control one end of the flexible workpiece, enabling turnover operations that would be difficult with a single gripping mechanism due to the workpiece's flexibility and tendency to deform.
Solution Approach 2:
The patent introduces a rotation axis that extends in the thickness direction of the flexible workpiece, which is perpendicular to the plane of the workpiece. This dimensional change allows the hand portions to rotate the workpiece about an axis through its thickness, enabling effective turnover of flexible materials that cannot be easily manipulated in their original plane.
2Reliability
If a robot uses a complex multi-step operation to turn over flexible workpieces, then the workpiece can be turned over, but the operation becomes complex
Solution Approach 1:
The patent combines multiple operations (holding, lifting, rotating, and lowering) into a coordinated sequence performed by two hand portions working simultaneously. By merging these operations into an integrated process controlled by the robot system, the complexity is managed through coordination rather than sequential complexity, improving reliability while maintaining operational efficiency.
Solution Approach 2:
The patent performs preliminary actions by having the hand portions hold the two portions of the flexible workpiece in predetermined positions before the turnover operation begins. This preliminary positioning ensures that the workpiece is properly prepared for rotation, reducing the risk of deformation or failure during the turnover process and improving overall reliability.
Data Source
AI summary
A controller of a robot turns over a workpiece into a second state by causing a first end effector to execute a holding operation of holding a first portion in a first state, causing the first robot arm to execute, after the holding operation, a lifting operation of lifting the first end effector such that a second sheet surface separates from a turnover station, causing the first robot arm to execute, after the lifting operation, a lowering operation of lowering the first end effector with a first sheet surface facing downward, and causing the first end effector to execute, before completion of the lowering operation and after the holding operation, a rotary operation of rotating about a first rotation axis in a direction of raising a first end portion.