Robot Gripper Arm Axes for Reliable Container Workpiece Removal
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Solution Overview
Problem
Conventional devices for automated removal of workpieces from containers face reliability issues, especially with non-symmetrical or non-rotationally symmetrical parts, as they often struggle to access workpieces in unfavorable positions such as the edge or deep within the container.
Innovation Solution
A device equipped with a robot arm having at least six axes, including two additional movement axes for the gripper arm element, which allows for enhanced accessibility and precision in gripping workpieces, particularly through the use of rotary axes and a slewing mechanism, enabling secure gripping even in difficult situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a standardized industrial robot with six-axis robot arm is used to move the gripper, then the device structure is relatively simple and easy to control, but the reliability of workpiece removal is insufficient, especially for asymmetrical parts or workpieces in unfavorable positions
Solution Approach 1:
The robot arm is divided into a main robot arm (six axes) and a separate gripper arm element (two additional axes). This segmentation allows the gripper to have independent movement capabilities through the additional axes, enabling reliable removal of workpieces from unfavorable positions while keeping the main robot arm structure standardized and simple.
Solution Approach 2:
Two additional rotational axes (azimuth and elevation angles) are added to the gripper arm element, extending the movement space from six dimensions to eight dimensions. This dimensional expansion enables the gripper to access workpieces in positions that would be unreachable with a standard six-axis robot, significantly improving removal reliability.
2Ease of operation
If the gripper is positioned to access workpieces at the edge or deep within the container, then the accessibility is improved, but the risk of collision with the container increases
Solution Approach 1:
The gripper arm element incorporates two dynamically controllable rotational axes that allow real-time adjustment of the gripper's position and orientation. This dynamic capability enables the system to navigate around obstacles and access workpieces in difficult positions while actively avoiding collisions with the container.
Solution Approach 2:
The system changes the operational parameters by adding two rotational degrees of freedom to the gripper assembly. This parameter expansion allows the gripper to reach edge and deep-positioned workpieces while maintaining collision-free operation through precise control of the additional angular parameters.
3Productivity
If additional axes are added to the robot arm to improve workpiece accessibility, then the removal rate increases, but the device complexity and space requirements increase
Solution Approach 1:
The system segments the robotic system into a main six-axis robot arm for positioning and a separate two-axis gripper arm element for fine positioning and orientation. This segmentation achieves high removal rates by enabling the gripper to access any workpiece position while keeping each module relatively simple and manageable.
Data Source
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AI summary
The device comprises a detecting unit (2) for detecting a workpiece movable by a robotic arm (3) with six axles gripper for gripping and removing the workpiece out of a container (1). A control unit evaluates the data of the detecting unit, for trajectory planning and for controlling the robotic arm and gripper. The robotic arm is provided with a gripper arm element (4) for moving the gripper along two movement axes. Independent claims are included for the following: (1) method for removing workpiece arranged in container; and (2) computer program for removing workpiece arranged in container.