Robotic Stirrup Collection With Adaptive Gripping and Auto Pickup Points
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Solution Overview
Problem
Current stirrup production systems face challenges in automatically collecting stirrups of varying shapes and sizes, leading to manual sorting and stacking that is labor-intensive and prone to errors, and existing robotic solutions are limited in adaptability to diverse stirrup patterns.
Innovation Solution
A system comprising a control unit, stirrup device, and robotic arm that automatically calculates and adjusts pickup and placement points based on work order information, using grippers to handle stirrups of different shapes and sizes without manual intervention, and incorporates compensation mechanisms to address position errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing clamps are used to grab stirrups, then fixed shape and specification stirrups can be handled, but stirrups with different shapes and specifications cannot be grabbed effectively
Solution Approach 1:
The clamp is designed with adjustable components that can dynamically change its configuration to match different stirrup shapes and specifications. The clamp includes movable fingers or jaws that can be positioned at different locations and angles, allowing it to adapt to various stirrup geometries without requiring multiple fixed clamps for each shape type.
Solution Approach 2:
The clamp parameters such as opening width, gripping force, and finger position are made variable to accommodate different stirrup specifications. By changing these parameters based on the detected stirrup shape, a single clamp can handle diverse stirrup types that would otherwise require multiple specialized clamps.
2Measurement precision
If individual robotic arm programs are built for each stirrup shape, then accurate grabbing can be achieved, but programming time and complexity increase significantly
Solution Approach 1:
The system incorporates automated detection and calculation capabilities that allow it to determine optimal pickup points and robotic arm trajectories autonomously. Instead of requiring manual programming for each shape, the system uses sensors to detect stirrup geometry and automatically computes the necessary motion parameters, enabling the robotic arm to adapt to new shapes without additional programming.
Solution Approach 2:
The system uses real-time feedback from sensors that detect stirrup position, orientation, and shape characteristics. This feedback is fed into the control system, which automatically adjusts the robotic arm's pickup points and motion paths based on the actual stirrup configuration, eliminating the need for pre-programming each shape variant.
3Reliability
If manual sorting and counting is performed, then stirrup quantities can be tracked, but labor intensity and error risk increase
Solution Approach 1:
The manual mechanical process of sorting and counting is replaced with an automated vision system and control system. Sensors and cameras detect stirrup shapes, positions, and quantities, while the control system automatically tracks and counts each stirrup as it is produced and collected, eliminating manual labor and reducing errors.
Solution Approach 2:
The system performs self-counting and self-tracking through integrated sensors that automatically register each stirrup as it is produced and moved. The control system maintains an automatic inventory without requiring human intervention, improving both accuracy and operational simplicity.
4Productivity
If stirrups are allowed to fall and pile up on the ground, then collection process is simplified, but product entanglement and messiness increase
Solution Approach 1:
The robotic arm is programmed to pick up stirrups at predetermined locations immediately after they are cut from the production line, preventing them from falling and piling up on the ground. By performing the collection action at the right moment and placing each stirrup in its designated location, the system maintains product order while enabling automated high-speed collection.
Data Source
AI summary
A system and a method for automatically collecting a stirrup are provided. The system includes a control unit, a stirrup device, and a robotic arm. The control unit receives work order information and automatically generates pickup point and placement point information of the stirrup according to the work order information. The stirrup device is electrically connected to the control unit and receives the work order information output by the control unit to shape the stirrup. The robotic arm is electrically connected to the control unit and receives the pickup point and placement point information, wherein the control unit controls the robotic arm to grab the stirrup from a pickup point and place the stirrup at a placement point.