Robot Arm Tool Verification Using 3D Distribution Data
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Solution Overview
Problem
Existing robot arm systems lack a reliable method to accurately determine whether the attached tool is of the correct type and state for specific processing operations, leading to potential errors in tool attachment and operation.
Innovation Solution
A tool check device and method that utilizes a three-dimensional coordinate system to control the robot arm, acquire distribution data of the tool and object in an inspection space, and determine whether the tool conditions are met, ensuring accurate type and state verification through movement control, distribution data acquisition, and determination units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm is equipped with interchangeable tools for different processing operations, then the adaptability and versatility of the system is improved, but the reliability of tool attachment and operation cannot be ensured without a verification mechanism
Solution Approach 1:
The patent implements a feedback mechanism where the control device receives information about the attached tool's ID and state, compares it against required tool conditions, and provides verification feedback to confirm proper tool attachment and configuration before processing operations commence
Solution Approach 2:
The system performs preliminary verification of tool attachment and configuration before the actual processing operation. The control device checks tool ID and state conditions in advance, ensuring that the correct tool is properly attached and configured before the robot arm executes its processing task
2Reliability
If tool verification mechanisms are added to ensure reliable tool attachment, then the reliability of processing operations is improved, but the device complexity increases
Solution Approach 1:
The control device performs multiple functions: it controls the robot arm's movement, manages tool identification through sensors, verifies tool conditions against required parameters, and coordinates processing operations. By consolidating these functions into a single control device, the system achieves reliable tool verification without proportionally increasing overall system complexity
3Manufacturing precision
If the robot arm is controlled to precisely position the tool at specific coordinates in a three-dimensional space, then the measurement precision and manufacturing precision are improved, but the difficulty of detecting and measuring tool conditions increases
Solution Approach 1:
The patent introduces distribution data as an intermediary representation of object information in the inspection space. Instead of directly measuring complex tool conditions at precise three-dimensional coordinates, the system uses distribution data that captures object characteristics across coordinate combinations, simplifying the detection and measurement process while maintaining precision
Data Source
AI summary
A tool check device for robot arm, includes: a movement control unit configured to control a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system; a distribution data acquisition unit configured to acquire distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the control by the movement control unit; and a determination unit configured to determine whether the tool condition is satisfied, based on the distribution data.