Robot End Effector Raster Scanning for Undefined Part Geometry
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Solution Overview
Problem
Conventional robots face challenges in performing operations on parts with undefined or unquantified geometry, requiring detailed numeric descriptions and time-consuming teaching processes, which increases costs and reduces efficiency.
Innovation Solution
The method involves collecting a spatial representation of the part using an imaging device, aligning a raster scan pattern, defining normality vectors, and moving the end effector along this pattern to perform operations, allowing for efficient operation without prior knowledge of the part's dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robots are used to perform operations on parts with undefined geometry, then detailed numeric descriptions and teaching processes are required, but this increases costs and reduces efficiency
Solution Approach 1:
The patent replaces traditional mechanical teaching processes and numeric description systems with a vision-based guidance system. The robot uses an imaging device to capture spatial representations of parts and automatically determines operation locations and orientations without manual teaching, substituting mechanical programming with optical detection and computational processing.
Solution Approach 2:
The robot performs self-guided operations by using its own imaging device to locate and orient itself on parts. The system independently determines normality vectors and operation locations without external teaching or intervention, enabling the robot to serve itself in navigating and performing operations on variable geometry parts.
2Reliability
If manual teaching is used to train the robot to navigate to various locations, then the robot can perform operations on complex parts, but this increases costs and time consumption
Solution Approach 1:
The system performs preliminary spatial mapping of the part using an imaging device before execution of operations. The normality vectors and operation locations are pre-determined through image processing, allowing the robot to immediately execute operations without time-consuming manual teaching during actual production.
Solution Approach 2:
The patent creates a digital copy of the part's spatial representation through imaging and processing. This virtual model serves as a guide for robot navigation and operation, replacing the need for physical teaching demonstrations while maintaining precise location accuracy.
3Manufacturing precision
If detailed numeric descriptions are provided to the robot, then the robot can control motion and locations accurately, but this requires well-defined part geometry that is not available for complex parts
Solution Approach 1:
The system transitions from static, pre-defined numeric descriptions to dynamic, real-time image-based guidance. The robot adapts its motion control based on actual captured images of the part, allowing accurate positioning on complex geometries without requiring predetermined numeric models of the part structure.
Solution Approach 2:
The patent changes the fundamental parameters used for robot guidance from fixed numeric coordinates to dynamically calculated positions derived from image processing. Normality vectors and operation locations are computed from spatial representations rather than being predetermined, enabling accurate control on variable geometry parts.
Data Source
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AI summary
The application relates to methods of performing a plurality of operations within a region of a part utilizing an end effector of a robot and robots that perform the methods are disclosed herein. The methods include collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to this part. The methods also include defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector. The methods further include moving the end effector relative to the part and along the predetermined raster scan pattern. The methods also include orienting the end effector such that an operation device of the end effector faces toward each operation location along a corresponding normality vector and executing a corresponding operation of the plurality of operations with the operation device.