Suction Nozzle Trajectory Control for Low-Impact Pick-and-Place
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Solution Overview
Problem
Existing component mounting devices using suction nozzles face issues with damaging components due to high velocity contact and prolonged stop times during suction operations, leading to increased operation times.
Innovation Solution
A trajectory generation device that calculates and generates a trajectory for the suction nozzle with specific velocity, acceleration, and jerk conditions to minimize contact impact and reduce stop times by continuously decelerating to a stop point and then accelerating from there.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the suction nozzle is stopped for a sufficient time until suction pressure rises, then the suction pressure increases, but the time required for object suction operations increases
Solution Approach 1:
The suction pressure is increased in advance before the suction nozzle reaches the object, by extending the suction start point to a first via point where the nozzle is approaching the object. This preliminary action eliminates the need for stopping after contact to build suction pressure, thereby reducing operation time while ensuring reliable suction.
Solution Approach 2:
The suction operation is made continuous by starting suction at the first via point before reaching the object and maintaining it through the second via point. This continuous action eliminates idle stop time while ensuring the object is securely suctioned, resolving the contradiction between reliability and time efficiency.
2Productivity
If the suction nozzle approaches the object at high velocity, then the operation time is reduced, but the impact when contact occurs increases causing damage to the object
Solution Approach 1:
The approach trajectory is segmented into multiple phases with via points: first via point for contact, second via point for pushing. Velocity and acceleration conditions are differently applied to each segment, allowing high velocity approach followed by controlled deceleration to minimize impact while maintaining productivity.
Solution Approach 2:
The velocity and acceleration of the suction nozzle are dynamically adjusted during the approach and contact phases. The system transitions from high velocity approach to controlled deceleration at via points, optimizing both productivity and object safety through dynamic parameter changes.
3Reliability
If the suction nozzle is pressed against the object with force, then the suction pressure increases, but the time required for suction operations increases due to prolonged stopping
Solution Approach 1:
Suction is initiated in advance at the first via point before the nozzle fully contacts the object. This preliminary suction action ensures adequate suction pressure is established before the object needs to be securely held, eliminating the need for prolonged stopping and improving productivity while maintaining reliability.
Data Source
AI summary
A trajectory generation device generates a trajectory of a robot for conveying an object. A path condition acquisition unit acquires path condition information including at least coordinates of a first via point which is a position of a reference point of a suction nozzle of the robot when the suction nozzle comes into contact with the object, and a velocity, an acceleration, and a jerk of the suction nozzle at the first via point. A pressurization distance and coordinate calculation unit calculates coordinates of a second via point which is a position of the reference point when the suction nozzle is pushed into the object, based on the path condition information; and a trajectory generation unit generates the trajectory of the suction nozzle which satisfies the path condition information and reaches an end point from a predetermined start point via the first via point and the second via point.