Robot Gripper Motion Sequences for Deformable and Rigid Goods
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Solution Overview
Problem
Existing methods for controlling robots in storage and order picking systems are inflexible and unsuitable for handling a wide variety of goods, often requiring human intervention, especially with heavy or fragile items, which can be detrimental to worker health.
Innovation Solution
A method for controlling a robot system that activates suction grippers based on the physical properties of goods, such as modulus of elasticity, compressive strength, and weight, allowing it to adapt to different types of goods, including easily deformable and rigid items, by activating grippers before or after contact based on these properties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot system uses a fixed gripping strategy for all goods, then the system structure remains simple, but it cannot handle a wide variety of goods with different physical properties
Solution Approach 1:
The patent implements dynamic adaptation by classifying goods into different types based on physical parameters (dimensional stability, compressive strength, flexural stiffness, tensile strength, weight) and automatically selecting appropriate gripping strategies and motion sequences for each type. This allows the robot system to adapt its behavior dynamically rather than using a fixed strategy, resolving the contradiction between versatility and complexity.
Solution Approach 2:
The system changes operational parameters (gripping force, suction activation timing, motion speed, acceleration) based on the classified goods type. By adjusting these parameters according to the specific physical properties of each goods type, the system achieves high adaptability while maintaining a structured control framework that manages complexity.
2Reliability
If the robot activates suction grippers before contact with goods, then it can handle easily deformable goods effectively, but it may damage rigid goods or cause unnecessary delays
Solution Approach 1:
The patent applies different suction activation strategies based on the local properties of the goods being handled. For easily deformable goods (first type), suction is activated before contact to ensure secure gripping. For rigid goods (second type), suction is activated after contact to avoid damage. This localized adaptation to goods properties resolves the contradiction between gripping reliability and potential harm.
Solution Approach 2:
The system performs preliminary classification of goods and prepares appropriate gripping strategies in advance. For deformable goods, the suction gripper is pre-activated before contact (preliminary action) to ensure reliable gripping. This preliminary preparation based on goods classification eliminates the need for reactive adjustments during handling, improving reliability without causing harm to rigid goods.
3Manufacturing precision
If the robot uses specialized systems for specific goods types, then handling precision is improved, but the system becomes less flexible and requires multiple specialized devices
Solution Approach 1:
The patent implements a universal robot system that can handle multiple goods types by classifying them into categories (first type: easily deformable; second type: rigid) and applying appropriate gripping and motion strategies for each category. This multi-functional approach allows a single system to achieve specialized handling precision for different goods types without requiring multiple dedicated systems, thus maintaining flexibility while improving precision.
4Device complexity
If human workers handle heavy and fragile goods, then the system remains simple, but worker health is compromised
Solution Approach 1:
The robot system autonomously classifies goods based on their physical properties and self-adjusts gripping strategies and motion sequences without human intervention. This self-service capability allows the system to handle heavy and fragile goods safely, eliminating health risks to workers while maintaining manageable system complexity through automated decision-making algorithms.
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 method enables the robot system to handle a diverse range of goods efficiently, reducing the need for human intervention and protecting workers by allowing precise or flexible handling strategies based on goods' properties, enhancing system flexibility and safety.
Implementation Method 1
at least one suction gripper (5) is activated when picking up a product (26) of the first type before the contact of the at least one suction gripper (5) with the product (26), and is activated when picking up a product (26) of the second type after the contact of the at least one suction gripper (5) with the product (26)
Data Source
Figure 1~2
Figure 3
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AI summary
Disclosed is a robot system (2a..2d) comprising a robot (1a, 1b) with a gripping unit (4) for picking up and placing/discharging products (26a..26g), said products (26a..26g) being classified into a number of types with respect to their dimensional stability, resistance to pressure, flexural rigidity, strength, absolute weight and/or specific weight. When manipulating the products (26a..26g), the robot (1a, 1b) and/or the gripping unit (4) is/are controlled according to the type determined for said products (26a..26g). Also disclosed is a method for operating the robot system (2a...2d).