Robot Hand Posture Correction for Article Extraction
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Solution Overview
Problem
Existing robot taking out devices face challenges in efficiently correcting the posture of randomly located articles for grippage, especially when interference occurs between the robot hand and the container, leading to complex programming and potential failure in gripping due to varying orientations and shapes of workpieces.
Innovation Solution
A taking out device equipped with a vision sensor to detect article positions and postures, a correction part to adjust positional and postural information, and a posture adjusting part to prevent interference with the container, allowing the robot hand to correct the article's posture before gripping, using a series of teach points and interference region information for precise operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the hand is structurally designed to be flexible for different workpiece orientations, then the taking out capability is improved, but the device complexity and cost increase
Solution Approach 1:
The system performs preliminary detection of workpiece position and posture using a vision sensor before the taking out operation. Based on the detected information, the system pre-calculates and determines the optimal hand posture and approach path, allowing the hand structure to remain simple while adapting to different workpiece orientations through software-based adjustments rather than complex mechanical reconfigurations
Solution Approach 2:
The system changes operational parameters (hand posture, approach angle, gripping force) based on detected workpiece characteristics rather than changing the physical structure of the hand. The control unit adjusts these parameters dynamically to accommodate different workpiece orientations, shapes, and positions, maintaining structural simplicity while achieving versatility
2Speed
If the robot hand moves forward directly to grip the workpiece, then the operation speed is improved, but the gripping reliability decreases when workpiece orientation is unknown
Solution Approach 1:
The vision sensor performs preliminary detection of the workpiece's position and posture before the robot hand approaches. This advance information allows the system to plan an appropriate approach path and gripping strategy, ensuring reliable gripping even when workpiece orientation varies, while maintaining efficient operation speed through pre-planned trajectories
Solution Approach 2:
The system uses feedback from the vision sensor to continuously monitor and adjust the robot hand's approach and gripping actions. Based on detected workpiece position and posture, the control unit modifies the hand's movement trajectory and gripping parameters in real-time, ensuring reliable gripping while maintaining operational efficiency
3Adaptability or versatility
If the hand approaches from multiple directions to correct posture, then the posture correction capability is improved, but the robot program complexity increases
Solution Approach 1:
The system pre-calculates the optimal approach direction and posture correction path based on vision sensor data before the robot hand approaches the workpiece. This pre-planning allows the hand to correct workpiece posture efficiently in a single coordinated motion rather than requiring complex multi-step programs with multiple approach directions
Solution Approach 2:
The robot hand is designed with universal capability to approach and correct posture from various directions while following a unified control algorithm. The control unit determines the most appropriate approach direction based on workpiece orientation, allowing the same hand structure to perform posture correction effectively regardless of the required approach angle, without requiring separate specialized mechanisms for each direction
4Object-affected harmful factors
If the hand is positioned at a specific posture to avoid interference, then the interference with container is reduced, but the posture adjustment complexity increases
Solution Approach 1:
The system pre-calculates the interference-free path and optimal hand posture based on vision sensor data and container geometry before the robot hand approaches. This pre-planning ensures the hand adopts the correct posture to avoid container interference from the beginning of the operation, rather than requiring complex real-time adjustments during execution
Solution Approach 2:
The control unit acts as an intermediary that processes vision sensor information about workpiece position and container geometry, then determines the optimal hand posture and approach path that avoids interference. This intermediary calculation layer simplifies the overall system by centralizing the complex geometric reasoning in software rather than requiring complex mechanical interference-avoidance mechanisms
Data Source
AI summary
A taking out device capable of correcting a posture of an article to be taken out and taking out the article, while considering interference between a robot hand and a container for containing the article. Since the article is inclined to the left side, the hand approaches and contacts the article from the left side. Then, the hand pushes to the right side while claws of the hand engage a hole portion of the article in order to correct the posture of the article such that the positional relationship between the article and the hand represents a reference position/posture. In this way, the hand is positioned at a second position/posture in which the posture of the article relative to the claws allows the article to be taken out.