3D Sensor-Based Workpiece Picking with Dynamic Posture Calculation
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Solution Overview
Problem
Existing workpiece picking devices face challenges in efficiently picking workpieces randomly piled in a three-dimensional space, often resulting in incomplete picking due to interference and difficulty in holding workpieces with varying postures, requiring complex hardware mechanisms and high user expertise.
Innovation Solution
A workpiece picking device equipped with a sensor for 3D measurement, a robot with a versatile hand, a holding position posture calculation unit, and a loading state improvement operation generation unit, which calculates optimal holding positions and improves the picking state through controlled robotic operations, reducing the need for exclusive hardware and enhancing productivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot hand approaches workpieces randomly piled in a storage to pick them, then the picking operation can be performed, but interference with the storage or other workpieces occurs and workpieces fail to be held
Solution Approach 1:
The system performs preliminary measurement of the storage state using a sensor before the picking operation. The holding position posture calculation unit calculates optimal holding positions and postures in advance based on the measured workpiece positions and postures, allowing the robot to approach and pick workpieces without interference, thereby improving both productivity and reliability
Solution Approach 2:
The system uses sensor measurements to continuously monitor the storage state and feeds this information back to the holding position posture calculation unit. This feedback loop enables real-time adjustment of holding positions and postures, ensuring that the robot can successfully pick workpieces even as the storage state changes, thus improving both efficiency and success rate
2Device complexity
If only one manner of holding workpieces is prescribed, then the holding mechanism is simple, but workpieces with three-dimensionally optional posture cannot be held in the prescribed manner
Solution Approach 1:
The holding position posture calculation unit dynamically calculates appropriate holding positions and postures based on the actual three-dimensional posture of each workpiece. This dynamic adjustment allows the robot hand to adapt to various workpiece orientations without requiring multiple fixed holding mechanisms, maintaining simplicity while achieving high adaptability
Solution Approach 2:
The system changes the holding parameters (position and posture) based on the measured workpiece characteristics. By calculating optimal holding parameters for each workpiece individually, the system can hold workpieces in various three-dimensional postures using a single holding mechanism, thus improving versatility without increasing device complexity
3Productivity
If exclusive hardware mechanism is provided to operate projection portion movable forward and backward, then workpieces can be picked one by one, but complex hardware is required and heavy workpieces cannot be operated
Solution Approach 1:
The system replaces the mechanical projection portion mechanism with a sensor-based measurement and calculation system. The sensor measures workpiece positions and the holding position posture calculation unit calculates optimal holding positions, eliminating the need for complex movable hardware mechanisms and enabling the system to handle heavy workpieces that cannot be moved by mechanical projections
Solution Approach 2:
The holding position posture calculation unit acts as an intermediary between the sensor measurement and the robot picking operation. It processes the measured data and generates appropriate holding commands, replacing the need for physical projection mechanisms and enabling flexible picking of various workpieces including heavy ones
Data Source
AI summary
A workpiece picking device includes a sensor measuring a plurality of workpieces randomly piled in a three-dimensional space; a robot folding the workpieces; a hand mounted to the robot and hold the workpieces; a holding position posture calculation unit calculating holding position posture data of a position and a posture to hold the workpieces by the robot based on an output of the sensor; a loading state improvement operation generation unit generating loading state improvement operation data of improving a loading state of the workpieces by the robot based on an output of the sensor; and a robot control unit controlling the robot and the hand. The robot control unit controls the robot and the hand based on an output of the holding position posture calculation unit and the loading state improvement operation generation unit to pick the workpieces or perform a loading state improvement operation.