Robot Wrist Unit Visual Sensor Position Compensation
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Solution Overview
Problem
Existing robot systems face challenges in accurately measuring and compensating for positional changes between a robot and a machining apparatus, especially when the robot is moved to a different location, leading to inefficiencies in workpiece supply and extraction operations.
Innovation Solution
A robot system with a wrist unit and a movable unit, equipped with a visual sensor that captures images of visual targets on the machining apparatus to measure the relative positional relationship, allowing for automatic compensation of the robot's operating position, even when the robot is moved between different machining apparatuses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot is moved to a different location, then the robot's flexibility and adaptability are improved, but the measurement precision of the relative positional relationship deteriorates
Solution Approach 1:
A camera is introduced as an intermediary device to measure the relative positional relationship between the robot and the machining apparatus. The camera captures images of a mark on the machining apparatus, and by detecting the camera's position through image processing, the system accurately determines the relative position even when the robot is moved to different locations, thus resolving the contradiction between flexibility and measurement precision.
2Measurement precision
If the visual sensor is attached to the distal end of the arm, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The visual sensor (camera) is extracted from the distal end of the arm and repositioned to the base end of the arm. This extraction simplifies the attachment structure by removing the need for complex sensor mounting mechanisms at the distal end, while still enabling accurate measurement of the relative positional relationship through image processing of the mark on the machining apparatus.
3Productivity
If the robot operates in environments with cutting fluids, then the productivity is improved, but the reliability deteriorates due to equipment damage
Solution Approach 1:
The camera serves as a protected intermediary device that captures images of the mark on the machining apparatus from a safe distance. By using this intermediary approach, the robot can operate in environments with cutting fluids without exposing sensitive components to the harmful fluids, thus maintaining both productivity and equipment reliability.
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
Enables accurate and efficient supply and extraction of workpieces across different machining apparatuses without the need for re-teaching, reducing the complexity of setup and maintenance, and minimizing the risk of equipment damage from cutting fluids.
Implementation Method 1
capturing, with the visual sensor, an image of a visual target provided at a position where the relative positional relationship with respect to the work target device is predetermined
Data Source
AI summary
A robot includes a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a positon closer to the base end than the distal end face of the wrist unit is.