Robot Imager Control for Continuous Pick-and-Place Rotation
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Solution Overview
Problem
Existing robot systems require changing the fixed location of an imager when workpiece placement locations change, leading to increased cycle times for imaging and moving workpieces.
Innovation Solution
A robot system with an imager on the robot main body that rotates with the robot arm, allowing the imaging area to change independently of the arm's rotation, enabling simultaneous workpiece placement and imaging without stopping the arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the imager is arranged on the robot arm, then the robot arm can move the workpiece to the predetermined location, but the imager faces a direction different from the workpiece arrangement direction, requiring the robot arm to stop to image the workpieces
Solution Approach 1:
The system separates the imaging function from the robot arm by placing the imager on the robot main body. The imager and robot arm operate independently, allowing the imager to capture workpiece images while the robot arm moves and positions workpieces without stopping, thereby reducing cycle time
Solution Approach 2:
The controller acts as an intermediary that coordinates between the imager and robot arm operations. It controls the imager to image the workpiece to be held next during the robot arm's rotation operation, enabling simultaneous imaging and workpiece placement without requiring the robot arm to stop
2Stability of the object's composition
If the imager is fixed at a location spaced apart from the robot arm, then the imager location does not change with robot arm movement, but the fixed location must be changed when workpiece placement location changes
Solution Approach 1:
The imager is merged with the robot main body, combining the imaging system with the robot's base structure. This allows the imager to maintain a stable position on the robot main body while the robot moves to different workpiece locations, providing both stability and adaptability to changing placement locations
Solution Approach 2:
The robot main body serves multiple functions: it supports both the robot arm for workpiece manipulation and the imager for workpiece imaging. This multi-functional design allows the system to adapt to different workpiece placement locations without requiring separate adjustments to the imager's fixed location
3Ease of operation
If the imager is arranged on the robot arm, then the imager moves together with the robot arm, but it is necessary to stop the robot arm once to image the plurality of box-shaped workpieces
Solution Approach 1:
The system enables continuous operation by allowing the imager to capture images of the next workpiece to be held during the robot arm's rotation and placement operation. This eliminates idle stopping time and maintains continuous productive action, reducing the overall cycle time for repeated imaging and workpiece moving operations
Data Source
AI summary
A robot system (100) includes a controller (70) configured or programmed to control an imaging area of an imager (40) such that a workpiece (2) to be held next is imaged during operation to rotate a robot arm (21) around a first rotation axis (JT1 axis) to place the workpiece (2) held by a hand (30) at a predetermined placement location (3).