Robot-Mounted Transfer Positioning With Optical Pose Compensation
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Solution Overview
Problem
Conventional systems using automatic guided vehicles for robot operations to machine tools face inaccuracies in pose compensation due to wheel-based movement, leading to tilting and reduced positioning accuracy, especially when the robot's hand is inserted into the machine tool, affecting the reliability and efficiency of workpiece attachment and removal.
Innovation Solution
The system uses an identification figure arranged in the machine tool to accurately compensate the robot's pose by capturing images with a camera, enabling precise positioning and operation accuracy through compensation calculations based on reference images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an automatic guided vehicle with wheels is used to move the robot to the machine tool, then the degree of freedom in machine tool layout is increased and equipment costs are reduced, but the positioning accuracy at the operating position deteriorates due to wheel-based movement and tilting
Solution Approach 1:
The patent replaces the mechanical wheel-based positioning system with an optical measurement system. A camera captures images of a visual target (calibration markers) on the machine tool, and the controller calculates the robot's pose relative to the machine tool based on these images, eliminating dependence on mechanical positioning accuracy.
Solution Approach 2:
The patent introduces a visual target consisting of calibration markers as an intermediary between the robot and the machine tool. This visual target serves as a reference for the camera to measure the relative pose, enabling accurate positioning without relying on the mechanical accuracy of the automatic guided vehicle's wheels.
2Productivity
If the robot performs operations with its hand inserted into the machine tool, then workpiece attachment and removal operations are completed, but the robot pose compensation becomes inaccurate due to arm overhanging and tilting
Solution Approach 1:
The patent replaces mechanical pose measurement methods with optical measurement. The camera captures images of the visual target, and the controller calculates the robot's pose based on these images, providing accurate compensation even when the robot arm is overhanging and the vehicle is tilted.
Solution Approach 2:
The patent implements a feedback mechanism where the camera continuously monitors the visual target on the machine tool, and the controller uses this information to calculate and compensate for pose errors in real-time, ensuring accurate positioning during workpiece handling operations.
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 approach allows for accurate and efficient unmanned operation with high availability, reducing unnecessary interruptions and improving production efficiency by ensuring precise robot positioning and workpiece handling.
Implementation Method 1
images of the visual target are captured by a camera arranged on a movable part of the robot
Data Source
AI summary
A system includes a machine tool 10, a robot 25 having a camera 31, and a transfer device 35 having the robot 25 mounted thereon, and an identification figure is arranged in a machining area of the machine tool 10.