Robotized Equipment Initialization Using Multi-DOF Robot Localization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The implementation of medical analysis installations using Cartesian robots is complicated due to the requirement for precise orientation of objects, which is time-consuming and prone to errors, especially when dealing with inclined zones like the peripheral rim of a container, as it is difficult for these robots to accurately follow the orientation of such zones.
Innovation Solution
A method involving a first robot with at least four degrees of freedom is used to collect location information of elements in the workspace, allowing for precise determination of the orientation and position of objects, which is then converted for a Cartesian robot to move accurately within the workspace, reducing the need for precise initial setup and minimizing the risk of malfunction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a Cartesian robot is used for medical analysis facilities, then the workspace modeling is simplified by considering only position, but the setup process becomes significantly complicated due to the requirement of precise object orientation
Solution Approach 1:
The patent applies preliminary action by performing object localization before the Cartesian robot executes its tasks. A first robot with at least four degrees of freedom locates objects and determines their orientation in advance, storing this information for the Cartesian robot to use. This eliminates the need for meticulous manual setup while maintaining the simplified workspace modeling advantage of Cartesian robots.
2Manufacturing precision
If meticulous setup is performed to ensure correct object orientation, then the Cartesian robot can move precisely, but the setup time increases significantly
Solution Approach 1:
The patent replaces the mechanical setup process with an automated localization system. Instead of manually positioning and orienting objects with high precision during setup, a first robot equipped with a sensor automatically locates objects and determines their orientation. This substitution of mechanical adjustment with automated detection dramatically reduces setup time while maintaining the required precision for Cartesian robot operation.
3Device complexity
If a Cartesian robot with prismatic joints is used, then the robot structure is simplified, but the ability to accurately follow inclined zones like container rims is compromised
Solution Approach 1:
The patent introduces a first robot with at least four degrees of freedom as an intermediary between the inclined zones and the Cartesian robot. This intermediate system performs the complex task of locating inclined surfaces and determining their orientation, then provides this information to the Cartesian robot. The intermediary robot's additional degrees of freedom enable it to access and measure inclined zones that would be difficult for a standard three-degree-of-freedom Cartesian robot to handle accurately.
Data Source
Figure 1
Figure 2~6
AI summary
The invention relates to a method for initializing and controlling robotized equipment including a first robot (70) having four degrees of freedom, minimum, and a second Cartesian robot (30). The method includes the following steps: gathering location information related to at least one element located in a workspace common to the first and second robots, using the first robot (70); and using the gathered location information to move the second robot (30) in or around said element.