Robot Setting Apparatus for Bin Picking Grip Alignment
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Solution Overview
Problem
The existing robot setting methods for bin picking operations are cumbersome and labor-intensive due to the high degree of freedom in adjusting the position and attitude of the end effector, requiring manual alignment and registration of grip positions, which increases the workload for users.
Innovation Solution
A robot setting apparatus that includes a workpiece model registration unit, an end effector model registration unit, a grip reference point setting unit, a grip direction setting unit, and a relative position setting unit, allowing for the virtual simulation of the grip state and automatic adjustment of the end effector's position and direction to orthogonalize with the workpiece plane, reducing user burden by simplifying the grip position adjustment process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual alignment and registration of grip positions is performed with high degree of freedom in adjusting end effector position and attitude, then the robot can perform bin picking operations, but the workload and time required for setting increases significantly
Solution Approach 1:
The system performs preliminary actions by automatically calculating the grip position and attitude based on workpiece three-dimensional shape data before the actual bin picking operation. The end effector's grip position and orientation are pre-determined through automated computation rather than manual adjustment, resolving the contradiction by maintaining full adjustment freedom while eliminating the time-consuming manual setting process.
Solution Approach 2:
The patent replaces the manual mechanical adjustment system with an automated computational system. Instead of manually aligning the end effector by adjusting position and attitude parameters, the system uses a calculation unit to automatically compute the optimal grip position and orientation based on sensor-acquired three-dimensional workpiece data, thereby maintaining versatility while dramatically reducing setting time.
2Manufacturing precision
If manual alignment of end effector with workpiece attitude is performed, then the grip position can be registered, but the complexity of the setting process increases due to large number of adjustable parameters
Solution Approach 1:
The patent replaces the complex manual alignment process with an automated calculation system. The calculation unit automatically determines the precise grip position and attitude by processing three-dimensional workpiece shape data, eliminating the need for users to manually adjust multiple parameters while maintaining high registration accuracy.
Solution Approach 2:
The system performs self-service by automatically calculating and determining the grip position and end effector attitude without requiring manual intervention. The calculation unit processes the three-dimensional shape data and autonomously determines the optimal gripping parameters, thereby maintaining precision while reducing the complexity of the setting process.
Data Source
AI summary
A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.