Suction Robot Head Positioning for Secure Item Picking
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Solution Overview
Problem
Existing storage and picking systems face issues with secure gripping of goods, leading to incorrect grips and goods falling off the robot head due to inadequate determination of gripping surface pose and size.
Innovation Solution
A method and system that calculate a gripping pose for the robot head to maximize contact with suction pads, ensuring secure gripping by determining the gripping surface pose and size using sensors and activating appropriate suction cups, while allowing for rotation and movement to avoid collisions and ensure even loading.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional gripping methods are used without precise determination of gripping surface pose and size, then the system is simpler to operate, but secure gripping of goods cannot be guaranteed leading to misgrips or goods falling off
Solution Approach 1:
The sensor system performs preliminary detection of the gripping surface pose and size before the gripping action. This advance measurement allows the control system to calculate the optimal gripping pose and activate the appropriate suction grippers, ensuring secure gripping without requiring complex real-time adjustments during the gripping process.
Solution Approach 2:
The sensor system provides feedback information about the gripping surface characteristics to the control system. This feedback loop enables the system to adapt the gripping strategy based on the actual position, orientation, and size of the gripping surface, thereby improving gripping reliability while maintaining manageable system complexity through intelligent control.
2Reliability
If the robot head is equipped with multiple suction grippers to increase gripping capability, then gripping reliability improves, but the device complexity and difficulty of controlling which grippers to activate increases
Solution Approach 1:
The control system automatically determines which suction grippers to activate based on the sensor data about the gripping surface pose and size. The system self-regulates the activation of individual grippers without requiring manual intervention or complex operator decisions, thereby maintaining ease of operation while achieving high gripping reliability through selective multi-gripper activation.
Solution Approach 2:
Different suction grippers are activated based on their specific positions and the local characteristics of the gripping surface. The control system selectively activates only the grippers that will effectively contact the gripping surface, rather than activating all grippers uniformly. This localized activation strategy improves gripping reliability while simplifying control by activating only the necessary subset of grippers.
3Adaptability or versatility
If the robot system uses a fixed gripping approach, then the system is easier to control, but it cannot handle goods in various orientations and positions including jumbled states
Solution Approach 1:
The robot head is equipped with multiple rotational axes that enable dynamic adjustment of its orientation and position. Combined with the sensor system that detects the gripping surface pose, the system can dynamically calculate and execute the appropriate gripping pose for goods in various orientations and positions, including jumbled states, thereby achieving high adaptability while managing control complexity through automated calculation.
4Manufacturing precision
If the robot head moves to calculate optimal gripping pose, then gripping accuracy improves, but the picking time increases due to movement and calculation steps
Solution Approach 1:
The sensor system performs preliminary detection of the gripping surface pose and size before the robot head moves into the gripping position. This advance measurement allows the control system to calculate the optimal gripping pose in advance, reducing the time the robot head needs to spend in calculation and positioning, thereby improving picking speed while maintaining gripping pose accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach ensures secure gripping of goods, prevents incorrect grips and falling, and allows for efficient picking of goods in various orientations and positions, even in a jumbled state, with the ability to handle both rigid and deformable items.
Implementation Method 1
a robot head movable relative to a robot base and equipped with at least two spaced-apart suction grippers
Data Source
Figure 1~2
Figure 3
Figure 4~7
AI summary
The invention relates to a robot system (2a..2d) which comprises a robot (1a, 1b) having a movable robot head (4, 4a..4c) which has at least two spaced suction grippers (5, 5a..5c) and a sensor system (8a..8c) for detecting a gripping surface position and a gripping surface size of a gripping surface (24a..24n) of an item (23a..23n). With the aid of a controller (11) a gripping position for the movable robot head (4, 4a..4c) is calculated from the ascertained gripping surface position and gripping surface size, wherein a maximum number of suction grippers (5, 5a..5c) is in contact with the gripping surface (24a..24n) of the aforesaid item (23a..23n). The robot head (4, 4a..4c) is then moved into the calculated gripping position, where the suction grippers (5, 5a..5c) are activated in order to receive the item (23a..23n). The invention also relates to a method for operating the robot system (2a..2d).