Suction Head Spiral Search Using Pressure Feedback for Stable Pickup
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Solution Overview
Problem
Existing robot devices with suction heads struggle to efficiently pick up workpieces deviating from the predetermined position, especially in directions other than the two intersecting horizontal directions, leading to unstable pickup and increased search time due to limited directional search and inefficient motion patterns.
Innovation Solution
A control apparatus that uses a suction head with a pressure sensor to move spirally in a horizontal direction while performing a suction operation, estimating the workpiece's direction based on pressure changes, allowing for a 360-degree search and reattempting pickup in the estimated direction, thereby reducing unsearched areas and improving positional accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the suction head searches for workpiece positions using only two intersecting horizontal directions, then the search method is simple, but workpieces deviating in other directions cannot be picked up
Solution Approach 1:
The patent transitions from searching in two horizontal directions (X and Y) to adding a vertical dimension (Z) by moving the suction head up and down. This three-dimensional search space enables the suction head to locate workpieces deviating in any direction, not just horizontal deviations, thereby resolving the contradiction between adaptability and complexity.
2Productivity
If the suction head returns to the feeding position for every search point, then the search is systematic, but the search time increases
Solution Approach 1:
The patent implements preliminary action by having the suction head perform vertical movements (up and down) at each search point before moving to the next horizontal position. This preliminary vertical scanning identifies the workpiece position in the vertical dimension early, preventing unnecessary horizontal returns and reducing overall search time.
Solution Approach 2:
The patent applies skipping by allowing the suction head to move directly to the identified workpiece position once located through vertical scanning, rather than systematically returning to the feeding position for every search point. This eliminates redundant movements and rushes through the search process efficiently.
3Reliability
If the suction head uses fixed search points, then the search method is straightforward, but the identified position is only a local solution and not stable
Solution Approach 1:
The patent implements dynamics by making the search method adaptive rather than fixed. The suction head dynamically adjusts its search strategy based on pressure sensor feedback, performing vertical scans and horizontal movements according to detected workpiece positions. This dynamic approach ensures stable pickup by continuously optimizing the search path rather than following predetermined fixed points.
Solution Approach 2:
The patent uses feedback from the pressure sensor to determine whether the suction head has picked up the workpiece. This feedback mechanism allows the system to adjust its search behavior in real-time, moving to positions where pickup is successful rather than relying on fixed search points, thereby improving reliability.
4Productivity
If the suction head moves to multiple search points to find the workpiece, then the search coverage is comprehensive, but the motion path is inefficient
Solution Approach 1:
The patent employs curved spiral motion paths instead of straight-line movements between multiple search points. The spiral trajectory allows the suction head to continuously scan the search space in a smooth, energy-efficient path that covers all directions from the feeding position without requiring sharp turns or repeated positioning, reducing motion energy loss.
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 enables stable pickup of workpieces by covering all directions and reducing inefficient search motions, resulting in increased productivity and rapid identification of the correct pickup position.
Implementation Method 1
a pressure sensor to detect pressure of the compressed air
Implementation Method 2
a suction head to pick up a workpiece using compressed air
Data Source
AI summary
A control apparatus causes a robot device to move a suction head to a predetermined position at which a workpiece is fed and attempt to pick up the workpiece with the suction head at the predetermined position. Upon determining that the suction head has yet to pick up the workpiece, the control apparatus causes the robot device to rotationally move the suction head spirally in a horizontal direction while causing the suction head to perform a suction operation for the workpiece, and estimates a direction in which the workpiece is located with respect to the predetermined direction based on a change in compressed air pressure during the rotational movement of the suction head.