Multi-Joint Robot Pick-Up for Accurate Elongate Member Placement
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Solution Overview
Problem
The challenge is to efficiently place an elongate member, such as a noodle product, at a predetermined position without experiencing positional deviation due to inertial forces, while also minimizing the time required for placement.
Innovation Solution
A robot system is designed with a grasping unit and an arm body having multiple joints, which allows for precise control of the elongate member's placement. The system includes a grasping step, a first turning step to orient the grasping unit upward, a movement step to position the elongate member above the desired location, and a second turning step to release the elongate member while turning downward, ensuring accurate placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the noodle product is placed on the tray while hanging from the tongs without opening the tongs, then the placement time is reduced, but positional deviation occurs due to inertial forces
Solution Approach 1:
The arm member is accelerated upward before the noodle product is released, creating an inertial force that counteracts the downward motion during release. This preliminary acceleration ensures that even when the tongs open, the noodle product maintains its position and does not deviate from the target placement location
Solution Approach 2:
The control unit dynamically changes the acceleration parameter of the arm member during the placement operation. By increasing acceleration before release and adjusting it during the turning motion, the system optimizes both placement speed and position accuracy, resolving the contradiction between fast placement and precise positioning
2Productivity
If the arm member moves quickly to reduce placement time, then productivity improves, but inertial forces cause the elongate member to move opposite to the advancing direction
Solution Approach 1:
The control unit applies preliminary anti-action by accelerating the arm member upward before the noodle product is released. This creates an inertial force that counteracts the harmful downward motion that would otherwise occur during rapid deceleration or turning, preventing positional deviation while maintaining high placement speed
Solution Approach 2:
The system dynamically adjusts the acceleration and velocity parameters of the arm member throughout the placement operation. By continuously optimizing the motion profile, the system achieves high productivity while maintaining placement accuracy, preventing the elongate member from moving opposite to the advancing direction
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables efficient and accurate placement of elongate members at a predetermined position, reducing the risk of positional deviation and minimizing the time required for the placement process.
Implementation Method 1
the noodle product can be placed on the tray by opening the tongs in a state in which the noodle product hangs only by gravity and without being affected by an inertial force
Data Source
AI summary
A robot constitutes: a robot body; at least one moveable arm member; and a control unit that controls the arm member. The arm member is provided with a grasping unit that grasps the elongate members and an arm body that supports the grasping unit and has a plurality of joints. The control unit is provided with a grasping step for inserting the grasping unit into a layered product of elongate members and grasping the elongate members, a first turning step for driving at least one of the joints and turning the grasping unit upward, a movement step for moving the grasping unit via the arm body to be above a prescribed position, and a second turning step for driving at least one of the joints, turning the grasping unit downward while releasing the grasp of the elongate members by the grasping unit, and placing the elongate members.