Robot Gripping Force Detection for Conveyor Belt Pick Accuracy
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Solution Overview
Problem
Existing robot systems face challenges in accurately determining whether a workpiece has been successfully gripped, as contact with the conveyor belt can affect subsequent tasks, leading to inaccuracies in gripping operations.
Innovation Solution
A robot control method and system that incorporates a force detection unit, such as a 6-axis quartz crystal force sensor, to detect forces applied to the robot arm, allowing for precise determination of successful gripping by comparing detected forces with set thresholds during gripping and lifting operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot arm grips the target object on the conveyor belt, then the gripping operation is performed, but it is difficult to accurately determine whether the gripping is successful or not
Solution Approach 1:
The patent replaces complex mechanical detection systems with a force sensor that measures gravitational force. Instead of using multiple sensors or complex mechanical switches to detect gripping success, the system uses a single force sensor to measure the weight of the gripped object, substituting mechanical complexity with a straightforward force measurement approach.
Solution Approach 2:
The force sensor located at the robot arm automatically detects the weight of the gripped object during normal operation. The system uses its own operational data (force measurements during gripping) to determine gripping success without requiring external detection devices or additional complex measurement systems.
2Reliability
If the robot arm contacts the conveyor belt during gripping, then the position of other workpieces may be affected, but distinguishing between successful gripping and belt contact is difficult
Solution Approach 1:
The patent changes the detection parameter from qualitative (contact detection) to quantitative (force magnitude measurement). By measuring the actual force magnitude and comparing it against threshold values, the system can reliably distinguish between successful gripping (force within expected range) and belt contact (force exceeding threshold), transforming a difficult detection problem into a straightforward parameter comparison.
Solution Approach 2:
The force sensor provides real-time feedback during the gripping operation, allowing the control unit to immediately determine whether gripping is successful or if the belt has been contacted. This feedback mechanism enables the system to adjust its operation based on the measured force, improving reliability by preventing incorrect operations.
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
Enables accurate determination of gripping success, preventing damage to the robot arm and conveyor system by distinguishing between successful workpiece gripping and belt contact, thereby ensuring proper operation and timely release of the workpiece.
Implementation Method 1
a force detection unit detecting a force applied to the robot arm
Data Source
AI summary
A robot control method for controlling a robot is provided. The robot has a robot arm and a force detection unit detecting a force applied to the robot arm and grips a target object conveyed on a belt with an end effector provided at the robot arm. The method includes: a gripping step of executing an operation of gripping the target object with the end effector; and a determination step of determining whether the gripping of the target object is normally performed or not, based on a result of detection by the force detection unit in the gripping step.