Robot Gripping Hand Referencing for Roof Removal Trajectory
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Solution Overview
Problem
The existing installation for depositing a flag on a motor vehicle lacks referencing means for the robotic gripping hand relative to the recentering table and the roof removal station, leading to lengthy and expensive development times for defining precise trajectories.
Innovation Solution
Incorporating means for referencing the gripping hand of the robot with respect to the recentering table and the roof removal station, utilizing upward-projecting pilots and engageable barrels on the table and station, allowing precise geometric alignment and optimal trajectory determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If referencing means are not integrated into the installation, then the structure remains simple and cost-effective, but the development time for defining robot trajectories becomes very long and expensive
Solution Approach 1:
The patent introduces pilots as intermediary reference elements that are integrated into both the recentering table and the removal station. These pilots serve as physical mediators that enable the robot's gripping hand to accurately locate and reference positions without requiring complex software calibration or repeated trajectory adjustments, thereby significantly reducing development time while adding only minimal structural complexity.
2Manufacturing precision
If the roboticist manually adjusts trajectories repeatedly without physical benchmarks, then the installation remains simple, but the precision of flag placement deteriorates
Solution Approach 1:
The pilots act as physical benchmark intermediaries that provide tangible reference points for the roboticist. By engaging the gripping hand's barrels with these pilots at specific locations (recentering table and removal station), the system establishes precise geometric relationships without requiring complex measurement systems or iterative adjustments, thus improving placement precision with minimal added complexity.
Solution Approach 2:
The patent replaces manual trial-and-error trajectory adjustment with a mechanical referencing system. The physical engagement between the gripping hand's barrels and the pilots provides automatic geometric reference, substituting the need for repeated manual measurements and adjustments with a straightforward mechanical alignment process.
3Productivity
If multiple reference points are added to the table and station, then trajectory definition becomes quick and precise, but the device complexity and cost increase
Solution Approach 1:
The patent extracts only the essential reference functionality needed for trajectory definition by implementing simple vertical pilots at critical locations (recentering table and removal station). Rather than adding comprehensive reference systems throughout the entire installation, the solution selectively places minimal reference elements where they provide maximum benefit for trajectory definition, thereby improving productivity without excessive complexity or cost.
Data Source
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AI summary
Installation for removing a roof from the body of a motor vehicle, comprising a roof recentering table (1), a robot equipped with a gripping hand (2) for taking hold of the roof and moving it to a roof removal station on the vehicle body, this installation being characterized in that it includes means for referencing the gripping hand (2) of the robot with respect to the recentering table (1) when the roof is taken by said gripping hand (2) and with respect to the roof removal station on the body, during this removal.