Robot System Orientation Control Using Support Portions
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Solution Overview
Problem
Existing robot systems face challenges in efficiently changing the orientation of randomly arranged workpieces to a desired consistent orientation during assembly, due to limitations in the robot's operational range and the varying positions and orientations of workpieces on temporary placement stages.
Innovation Solution
A robot system equipped with a controller that can execute processing to hold and change the manner of holding workpieces using multiple support portions, allowing for orientation adjustments through a series of support stages to achieve a consistent orientation suitable for assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot picks up parts from a box and places them in a temporary placement region, then the robot can handle randomly arranged parts, but the robot cannot efficiently change the orientation of parts to a desired consistent orientation due to operational range limitations
Solution Approach 1:
A temporary placement region with multiple support portions is introduced as an intermediary between the source box and the assembly location. This intermediary stage allows parts to be reoriented by the support portions before the robot picks them up, eliminating the need for the robot to perform complex in-air manipulation and reducing operational range requirements.
Solution Approach 2:
The support portions in the temporary placement region perform preliminary orientation alignment of parts before the robot picks them up. This preliminary action ensures that parts are already in the desired consistent orientation when transferred to the assembly location, improving overall productivity.
2Adaptability or versatility
If the robot holds parts in various orientations on a temporary placement stage, then the robot can accommodate different part positions, but the robot cannot reliably change the holding manner of parts to a predetermined orientation
Solution Approach 1:
The temporary placement region with multiple support portions serves as an intermediary that receives parts in various orientations and transforms them into a consistent predetermined orientation. This intermediary structure provides stable support for orientation transformation, solving the reliability issue.
Solution Approach 2:
Different support portions are designed with specific geometric characteristics that correspond to different part orientations. Each support portion provides localized support that guides the part into the correct orientation, ensuring manufacturing precision while accommodating various initial positions.
3Productivity
If multiple support portions are added to enable orientation changes, then the robot can change part orientation more effectively, but the device complexity increases
Solution Approach 1:
The temporary placement region is segmented into multiple support portions, each designed to handle specific orientation requirements. This segmentation allows parallel processing of multiple parts with different orientations simultaneously, improving productivity while keeping each individual support portion simple in structure.
Solution Approach 2:
The temporary placement region with multiple support portions serves multiple functions: it acts as a holding area, an orientation transformation device, and a sorting mechanism. This multi-functionality justifies the added complexity by consolidating several operations into a single integrated structure.
Data Source
AI summary
A robot system includes a robot capable of holding a workpiece, a plurality of support portions capable of supporting the workpiece in respective orientations different from each other, and a controller configured to control the robot. The controller is configured to be capable of executing first processing of causing the robot to hold the workpiece, and second processing of causing the robot to change a holding manner of the workpiece by using at least one support portion among the plurality of support portions.