Robot Gripper Rotation Control for Automatic Piece Orientation
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Solution Overview
Problem
Automated transfer systems are inefficient for pieces with complex geometry, often requiring manual intervention to orient them correctly, and are sensitive to shape and dimension variations, leading to processing waste and jamming, as they typically require significant modifications for different shapes and dimensions.
Innovation Solution
A gripper system that uses a digital vision device to capture images of pieces, determine their orientation, and adjust the gripper's movement to align them correctly, allowing for automatic orientation and transfer without mechanical modifications, utilizing a robotic arm with interchangeable components and suction mechanisms to handle varying dimensions and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a mechanical singulator is used for pieces with complex geometry, then pieces can be conveyed in an orderly flow, but the pieces have random orientation and manual intervention is required
Solution Approach 1:
The patent replaces the mechanical singulator with a robotic system equipped with image processing and computer control. The robot gripper, controlled by image data, automatically orients and places pieces without manual intervention, substituting mechanical orientation devices with an intelligent robotic system that handles complex geometries and varying orientations.
Solution Approach 2:
The system enables self-service by using image processing to automatically detect piece orientation and controlling the robot gripper to adjust pieces to the required orientation autonomously. The computer-controlled system serves itself by making real-time decisions about piece placement without human intervention.
2Productivity
If a singulator is designed for a particular piece shape, then pieces can be processed efficiently, but the system requires complete replacement or substantial modification when shape changes
Solution Approach 1:
The robotic system provides universality by handling multiple piece shapes and orientations with a single configurable system. The robot gripper, guided by image processing and computer control, can adapt to different geometries through software programming rather than mechanical reconfiguration, enabling one system to serve multiple functions across varying product designs.
Solution Approach 2:
The system applies dynamics by making the gripper configuration adaptable through computer control. Rather than fixed mechanical structures, the robot can dynamically adjust its movement and gripper positioning based on real-time image data of the piece geometry, allowing efficient processing of varying shapes without physical modifications.
3Productivity
If a mechanical transfer system is used, then pieces can be conveyed, but the system is sensitive to dimensional variations causing jamming and stoppages
Solution Approach 1:
The system implements feedback through image processing that continuously monitors piece position and orientation during conveyance. The computer-controlled robot adjusts its actions based on this visual feedback, compensating for dimensional variations and positioning errors that would cause jamming in rigid mechanical systems, thereby maintaining continuous reliable operation.
Solution Approach 2:
The robotic system changes parameters dynamically through computer control, adjusting gripper force, positioning coordinates, and movement speed based on image data of each piece's actual dimensions. This flexibility allows the system to accommodate dimensional variations within tolerance ranges without causing jamming or stoppages.
4Ease of operation
If manual orientation is performed, then pieces can be set in required orientation, but production rate is reduced and labor costs increase
Solution Approach 1:
The patent replaces manual orientation operations with an automated robotic system. The robot gripper, controlled by image processing and computer programming, performs orientation and placement tasks that were previously done manually, thereby maintaining orientation accuracy while significantly increasing production rate and eliminating labor costs.
Data Source
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AI summary
A robot gripper (47) is provided for a transfer system for setting a piece in a required orientation; the gripper has two fingers (53, 54) supporting respective gripping surfaces (55, 56), which are coaxial and movable with respect to one another along a longitudinal axis (57); a first actuator (60) is provided for approaching/moving away the gripping surfaces (55, 56) longitudinally; the gripping surfaces (55, 56) can turn about the longitudinal axis (57) with respect to the fingers (53, 54), upon action of a second actuator (63) controlled to rotate one of the gripping surfaces (56) about the longitudinal axis (57).