Robotic Workstation Vision Alignment Without Positioning Jigs
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Solution Overview
Problem
In automatized workpiece processing, precise positioning is challenging when a workpiece is concealed by a processing tool or a component, making open-loop position control difficult, and the use of jigs is time-consuming and requires specific setups for different assembly jobs.
Innovation Solution
A workstation comprising robots equipped with processing and gripping tools, an imaging system, and a controller that identifies reference points, calculates displacement vectors, and adjusts tool positions to accurately place workpieces for processing, enabling precise positioning without the need for jigs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a jig is used to define predetermined position for the workpiece, then positioning precision is improved, but the time required for placing the workpiece and the complexity of the system increase
Solution Approach 1:
The patent replaces the mechanical positioning system (jig) with an optical measurement system (imaging system) and computational system (controller). The imaging system captures images of the workpiece, and the controller calculates the actual position based on these images, eliminating the need for physical jigs and manual positioning operations.
Solution Approach 2:
The patent creates a digital copy (image) of the workpiece and its position, then uses this copy to determine the actual position. The controller processes the image data to calculate positioning information, replacing the need for physical measurement and manual intervention.
2Manufacturing precision
If a jig is used to define predetermined position for the workpiece, then positioning precision is improved, but the device complexity and setup requirements increase
Solution Approach 1:
The patent replaces the mechanical positioning system (jig) with an optical measurement system (imaging system) and computational system (controller). The imaging system captures images of the workpiece, and the controller calculates the actual position based on these images, eliminating the need for physical jigs and manual positioning operations.
Solution Approach 2:
The imaging system and controller serve multiple functions: they not only determine the position of the workpiece but can also verify the position of components to be joined, monitor the assembly process, and provide data for quality control. This multi-functionality reduces the need for separate specialized devices for each task.
3Productivity
If open loop position control is used when the workpiece region is concealed, then the processing can proceed, but the positioning precision deteriorates
Solution Approach 1:
The patent performs preliminary measurement and calculation of the workpiece position using the imaging system before the actual processing begins. The controller calculates the displacement vector and determines the correct positioning information in advance, so that even when the workpiece region is concealed during processing, the positioning precision is maintained.
Solution Approach 2:
The imaging system provides feedback information about the actual position of the workpiece to the controller. Based on this feedback, the controller calculates the necessary adjustments and provides corrected positioning information, ensuring that the processing tool can accurately locate and process the workpiece region even when it is temporarily concealed.
Data Source
AI summary
A robotic workstation comprises a source for workpieces having a region to be processed, a first robot having a processing tool, a second robot having a gripping tool for gripping a workpiece and placing it within an operating range of the first robot, a controller coordinating displacements of the robots and processing, an imaging system that identifies reference points of the gripping tool and the workpiece in an image, calculate a displacement vector between coordinates of the reference points, calculate a target position where the reference point of the gripping tool should be located, place the reference point of the gripping tool at a target position, and move the processing tool to the target location for processing the region to be processed.