Robot Part Feeder Control Using Vibration Commands and Vision
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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 hinder overall workflow efficiency.
Innovation Solution
A control apparatus that includes a part feeder control unit and a robot control unit, utilizing vibration actuators and image recognition to select and transmit appropriate control commands for the part feeder, enabling operations like separation, posture change, and efficient part handling based on part type and shape, and improving workflow efficiency by virtually dividing the part accommodating region into specific partitions for optimal pick-up and replenishment.
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 be controlled via different control commands. The feeder accommodates various part types and shapes by adjusting vibration parameters rather than requiring dedicated feeders for each part type, thus reducing device complexity while maintaining handling accuracy.
Solution Approach 2:
The system changes the operational parameters of the vibration actuators (such as vibration amplitude, frequency, and duration) based on the type and shape of the part being handled. By dynamically adjusting these parameters through selected control commands, the feeder can adapt to different part characteristics without requiring physical reconfiguration or multiple dedicated devices.
2Device complexity
If a common part feeder is used for simple operations, then the device complexity is reduced, but the productivity and work efficiency decrease
Solution Approach 1:
The part feeder transitions from a static, simple design to a dynamic system that can adapt its behavior based on the task requirements. The vibration actuators can be selectively activated and controlled with different parameters to perform complex operations such as separation and posture change, enabling the common feeder to maintain high productivity while keeping the device structure relatively simple.
Solution Approach 2:
The system utilizes controlled mechanical vibration through multiple vibration actuators to perform complex part handling operations. By varying the vibration characteristics (amplitude, frequency, duration) of the actuators, the feeder can execute separation operations, posture changes, and standard picking operations, thereby improving productivity without significantly increasing device complexity.
3Adaptability or versatility
If complex operations like separation and posture change are performed, then the part handling capability is improved, but the control complexity and time consumption increase
Solution Approach 1:
The system performs preliminary actions by selecting and preparing the appropriate control command before executing the part handling operation. The control apparatus pre-identifies the required operation type (separation, posture change, or standard picking) and selects the corresponding control command with appropriate parameters in advance, which streamlines the execution process and reduces overall operation time despite the complexity of the tasks.
Solution Approach 2:
The vibration actuators are controlled in periodic cycles, where vibration is applied for specific durations followed by pauses. This periodic action pattern allows the system to perform complex operations like separation and posture change efficiently by applying vibration only when necessary, rather than continuous vibration, thus reducing time consumption while maintaining versatile handling capability.
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 optimizing the workflow through intelligent control of the part feeder and robot, leading to improved operational efficiency and reduced interference.
Implementation Method 1
a part feeder having a part accommodating unit that accommodates a part and a plurality of vibration actuators for vibrating the part accommodating unit
Data Source
AI summary
A control apparatus that controls a robot system including a part feeder having a container that accommodates a part and a plurality of vibration actuators for vibrating the container, and a robot having an end effector for picking up a part from the container, the apparatus comprising: a processor that is configured to execute computer-executable instructions so as to control the part feeder and the robot, wherein the processor is configured to select one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators and transmits the selected control command to the part feeder for causing the part feeder to perform an operation according to the selected control command.