Robot Part Feeder Vibration Control for Flexible Part Picking
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Solution Overview
Problem
Existing robot systems face inefficiencies in picking up parts from part feeders due to the need for dedicated feeders based on part type and shape, and limitations in performing complex operations, such as separation and posture change, which restricts the flexibility and efficiency of part handling.
Innovation Solution
A control apparatus that includes a part feeder with vibration actuators and a robot with an end effector, where the control apparatus selects and transmits specific control commands to the part feeder to adjust operations based on part type and shape, incorporating image recognition for virtual partitioning and posture change, and uses vibration parameters to optimize part separation and pick-up efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a dedicated part feeder is used for each part type and shape, then the part handling accuracy is improved, but the device complexity and cost increase
Solution Approach 1:
The part feeder is designed to handle multiple types of parts through a single device by using vibration actuators that can adjust their operation parameters. The feeder can perform separation, orientation, and presentation of different part types using the same hardware platform, eliminating the need for dedicated feeders for each part type while maintaining handling accuracy
Solution Approach 2:
The vibration actuators' control parameters (amplitude, frequency, duration) are dynamically adjusted based on the detected part type and shape. This allows a single part feeder to adapt its behavior to different parts, achieving part-type-specific handling without requiring multiple dedicated devices
2Device complexity
If a common part feeder performs simple operations only, then the device complexity is reduced, but the productivity and work efficiency decrease
Solution Approach 1:
Vibration actuators are integrated into the part feeder to enable complex operations such as separating piled parts, orienting parts in specific directions, and presenting parts in optimal positions for robot pickup. The vibration mechanism allows a simple common feeder structure to perform multiple complex functions that would otherwise require sophisticated mechanical systems
Solution Approach 2:
The part feeder transitions from static simple operations to dynamic complex operations by incorporating vibration control. The system can dynamically adjust vibration parameters to perform separation, orientation, and presentation operations, enabling a common feeder to achieve productivity levels previously only possible with complex dedicated systems
3Device complexity
If vibration actuators operate with fixed parameters, then the control system is simplified, but the adaptability to different part types and shapes is reduced
Solution Approach 1:
The system uses image recognition to detect part type and shape, then feeds this information back to the control unit which adjusts vibration actuator parameters accordingly. This closed-loop feedback mechanism enables the system to adapt to different part types while maintaining a relatively simple control architecture based on automated sensing and response
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
The solution enhances the efficiency of part picking and handling by allowing the robot system to adapt to different part types and shapes, improving separation and posture change operations, and reducing interference, thereby increasing overall work efficiency.
Implementation Method 1
a part feeder 400 having a part accommodating unit 410 that accommodates a part PP and a plurality of vibration actuators 424 for vibrating the part accommodating unit 410
Data Source
Figure 1
Figure 2
Figure 3~4A
AI summary
A robot system includes a part feeder (400) having a part accommodating unit (410) that accommodates a part (PP) and a plurality of vibration actuators (424a-d), and a robot (100) having an end effector (160a) for picking up a part (PP) from the part accommodating unit (410). A control apparatus (200) of the robot system includes a robot control unit (211) and a part feeder control unit (212) . The part feeder control unit (212) selects one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators (424a-d) and transmits the selected control command to the part feeder (400) for causing the part feeder (400) to perform an operation according to the selected control command.