Robot Gripping Control Using Grip-Prohibited Workpiece Regions
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Solution Overview
Problem
Conventional robot systems for taking out workpieces from containers often result in damage to the grip portion of the hand portion during transport, leading to suboptimal quality of workpiece handling and transport.
Innovation Solution
A robot system with a hand portion that includes a grip prohibited region, controlled by a conveyance condition setting unit to prevent the hand portion from gripping certain regions of the workpiece, ensuring the workpiece is handled and transported without causing damage, utilizing cameras for image processing and machine learning to optimize the conveyance operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot hand portion grips the workpiece at any position to take it out from the container, then the take-out operation can be performed efficiently, but the grip portion of the hand may be damaged or deformed during transport
Solution Approach 1:
The patent applies local quality by designating specific regions of the workpiece as grip prohibited regions where gripping is not allowed. The control unit identifies these regions based on workpiece shape and physical properties, and restricts the hand portion from gripping within these areas. This ensures that gripping occurs only in safe regions that will not cause damage during transport, thereby maintaining workpiece quality while still enabling efficient take-out operations.
2Device complexity
If the robot system uses a simple gripping strategy without considering workpiece characteristics, then the control system remains simple, but the workpiece may be damaged during handling
Solution Approach 1:
The patent implements preliminary action by pre-defining grip prohibited regions based on the workpiece's shape and physical properties before the actual gripping operation. The control unit analyzes the workpiece characteristics in advance, determines which regions should be avoided for gripping, and stores this information for use during the take-out operation. This preliminary analysis enables the system to make informed gripping decisions without requiring complex real-time adjustments during handling.
Data Source
AI summary
A robot system includes a robot including a hand portion which grips and takes out a workpiece from an accommodation unit in which a plurality of workpieces are accommodated, and transports the workpiece to a predetermined position; a robot control unit which controls conveyance operation of the robot of taking out the workpiece from the accommodation unit and transporting the workpiece to the predetermined position; and a conveyance condition setting unit which sets a conveyance condition regarding the conveyance operation and including, in the workpiece, at least a grip prohibited region that is prohibited from being gripped by the hand portion. The robot control unit controls the robot based on the conveyance condition set by the conveyance condition setting unit.