Robot Hand Stand-By Positioning for Accurate Article Insertion
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Solution Overview
Problem
In existing combinatorial weighing devices, articles held by a robot hand may slip out during insertion, leading to erroneous insertion and increased time lag when containers are not empty, affecting efficient article insertion.
Innovation Solution
The article supplying apparatus and combinatorial weighing device employ a control unit to manage the robot hand's holding and movement, using a stand-by position different from the immediate insertion position, allowing for efficient article insertion by minimizing slippage and reducing time lag through strategic positioning and movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the holding portion is disposed at a position immediately above the article insertion port during stand-by, then efficient article insertion is achieved, but articles may slip out and be erroneously inserted into the container
Solution Approach 1:
The patent introduces an intermediary position (stand-by position) between the start position and the position immediately above the insertion port. This intermediary position allows the holding portion to wait without being directly over the container, preventing accidental insertion while maintaining readiness for quick insertion when needed.
2Reliability
If the holding portion stands by at a position away from the movement path, then article slippage is prevented, but time lag increases and insertion efficiency decreases
Solution Approach 1:
The holding portion performs preliminary positioning at the stand-by position, which is pre-set on the movement path from the start position to the insertion position. This preliminary action allows the system to prepare in advance without compromising the final insertion accuracy or increasing the time lag significantly.
3Reliability
If the robot hand waits for the container to be empty before insertion, then erroneous insertion is prevented, but time lag increases and operational efficiency decreases
Solution Approach 1:
The stand-by position serves as an intermediary state where the robot hand can wait without being positioned over the container. This allows the system to respond immediately when the container becomes empty, eliminating the need to wait in a position that would cause erroneous insertion while minimizing time lag.
Data Source
AI summary
An article supplying apparatus includes a retention unit configured to retain an article, a robot hand configured to insert the article retained in the retention unit into a container, and a control unit configured to control operation of the robot hand. The robot hand has a holding portion for holding the article. The control unit executes holding control in which the article is held by the holding portion; and stand-by insertion control in which after the holding portion is temporarily disposed at a stand-by position different from a position immediately above an article insertion port in the container and set on a movement path from a start position of the holding through the holding control to the position immediately thereabove, the holding portion is moved to the position immediately thereabove, and the article is inserted into the container via the article insertion port.