Robotic Hand Pivot Separation for Flexible Workpiece Pickup
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Solution Overview
Problem
Existing workpiece handling devices can only lift the uppermost workpiece if it is loaded at a specific position, limiting the ability to utilize processing systems that rely on precise positioning and stacking height information, as they always grip the end edge portion of the workpiece at a fixed position.
Innovation Solution
A workpiece supply system and method that includes a robotic hand and a robot control unit capable of specifying a holding position, nearest neighbor portion, pivot center, and controlling the robotic hand to separate the uppermost workpiece from the group around the specified pivot center, allowing the uppermost workpiece to be held regardless of the stacking position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the workpiece processing unit always grips the end edge portion of the workpiece at a fixed position, then the workpiece can be reliably lifted, but the workpiece must be loaded at a specific position which limits the advantage of processing systems that rely on precise positioning and stacking height information
Solution Approach 1:
The gripping position is changed from a fixed location to a dynamically determined position based on the actual workpiece stacking state. The robot control unit calculates the appropriate gripping position by analyzing workpiece position and stacking height information, allowing the system to adapt to various stacking configurations while maintaining reliable lifting.
Solution Approach 2:
The system uses feedback from workpiece position detection and stacking height information to determine the optimal gripping position. The robot control unit receives information about the workpiece state and adjusts the gripping position accordingly, creating a closed-loop control system that ensures both reliability and adaptability.
2Measurement precision
If a single camera is installed directly above a center of the mounting place to photograph the entire mounting place, then the position and stacking height of workpieces can be specified, but the workpiece must still be loaded at a specific position for the fixed gripping mechanism to work
Solution Approach 1:
The gripping position is dynamically adjusted based on the detected workpiece stacking state. Instead of using a fixed gripping position, the system calculates the appropriate gripping position from the camera data and workpiece information, enabling flexible loading positions while maintaining precise control.
Solution Approach 2:
The fixed mechanical gripping mechanism is replaced with a control-based positioning system. The robot control unit uses computational methods to determine gripping positions based on camera images and workpiece data, substituting rigid mechanical constraints with flexible computational control.
Data Source
AI summary
A workpiece supply robot configured to be able to transport an uppermost workpiece from a workpiece group stacked on a workpiece mounting table, and a robot control unit are provided. The workpiece supply robot includes a robotic hand for holding the uppermost workpiece, and the robot control unit carries out a holding position specifying process of specifying a holding position of the robotic hand with respect to the workpiece, a nearest neighbor portion specifying process of specifying a portion of the workpiece nearest to the holding position of the robotic hand specified by the holding position specifying process, a pivot center specifying process of specifying, as a pivot center, an opposed portion opposed to the nearest neighbor portion specified by the nearest neighbor portion specifying process, and a robotic hand control process of separating the uppermost workpiece from the workpiece group around the opposed portion specified by the pivot center specifying process.