Robot End Effector Tool Positioning for Camera Obstruction
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Solution Overview
Problem
Existing robotic systems face challenges in accurately imaging and positioning workpieces during assembly operations, as the workpiece obstructs the camera's field of view when gripped by the robot hand.
Innovation Solution
An end effector with a driving mechanism that positions the tool supporting the workpiece outside the camera's field of view during imaging, allowing for accurate alignment and positioning without obstruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot hand grips the workpiece within the camera's field of view, then the workpiece can be positioned and manipulated, but the camera cannot capture the workpiece image accurately due to obstruction
Solution Approach 1:
The patent introduces a second degree of freedom (rotation around the optical axis) to the robot hand's positioning system. This allows the hand to move the workpiece laterally and rotate it, creating spatial separation from the camera's optical path while maintaining operational capability. The workpiece is positioned in a region that does not overlap with the optical axis, eliminating obstruction while preserving manipulation ability.
2Measurement precision
If the robot hand is retracted outside the image pickup area during imaging, then the camera can capture the workpiece without obstruction, but the workpiece cannot be gripped or manipulated simultaneously
Solution Approach 1:
The patent implements dynamic positioning where the robot hand continuously adjusts the workpiece position based on real-time imaging feedback. The system transitions between different positional states (gripping position, imaging position, manipulation position) fluidly, allowing simultaneous imaging and manipulation without requiring complete retraction of the hand.
Solution Approach 2:
The patent establishes a closed-loop feedback system where the camera continuously images the workpiece position, and this visual information is fed back to the control system to adjust the robot hand's positioning. This real-time feedback enables the hand to maintain optimal positioning for both manipulation and imaging without requiring sequential retraction.
3Productivity
If the workpiece is positioned to overlap with the camera's field of view for manipulation, then the robot can perform work, but the camera cannot accurately image the workpiece due to hand obstruction
Solution Approach 1:
The patent segments the workspace into distinct functional zones: a manipulation zone where the robot hand operates the workpiece, and an imaging zone where the camera captures images. By spatially separating these functions and allowing the hand to move the workpiece between zones as needed, the system achieves both effective manipulation and accurate imaging without mutual interference.
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 solution enables precise imaging and positioning of workpieces, improving the accuracy of assembly operations by preventing camera obstruction and allowing for effective visual servo control.
Implementation Method 1
an optical axis of reflected light reflected at the flat surface portion is directed toward the imaging apparatus
Data Source
AI summary
An end effector includes a base portion, an imaging apparatus supported by the base portion, and a tool movably supported by the base portion, the tool being configured to support a workpiece and perform work with respect to the workpiece. The base portion includes a driving mechanism. In a case of capturing an image of an imaging object by the imaging apparatus, the driving mechanism is configured to position the tool supporting the workpiece outside of a range in which at least part of the tool or the workpiece supported by the tool overlaps with the imaging object in a field of view of the imaging apparatus.