Suction Pad Deformation Control for Accurate Object Orientation
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Solution Overview
Problem
Conveyance robots with suction pads face challenges in accurately detecting the orientation of objects due to environmental disturbances and object characteristics, leading to difficulties in controlling the suction portion with high precision.
Innovation Solution
A controller is designed with a deformation information obtaining unit to detect the deformation of the suction portion and an operation control unit to adjust the movement of the suction portion based on this deformation, allowing for accurate orientation detection and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor is installed near the suction pad to detect object position and orientation before contact, then the robot arm can control movement based on detection results, but the detection is easily affected by environmental disturbances (light, vibrations, electric noise) and object characteristics (material, color), making it difficult to achieve high accuracy
Solution Approach 1:
Instead of detecting object characteristics from a distance using external sensors, the patent inverts the approach by using the suction pad itself as the detection sensor. The suction pad's deformation characteristics are measured to infer object position and orientation, turning the interaction interface into a sensing element that is inherently shielded from environmental disturbances.
Solution Approach 2:
The suction pad acts as an intermediary between the robot arm and the object. By measuring the suction pad's deformation rather than directly sensing the object, the system uses the suction pad as a mediator that transfers mechanical interaction information to the control system, eliminating the need for separate optical or electromagnetic sensors vulnerable to environmental factors.
2Reliability
If a sensor is installed near the suction pad to detect object orientation, then movement control can be performed based on detection results, but the detection reliability is reduced due to sensitivity to environmental factors and object properties
Solution Approach 1:
The suction pad performs dual functions: it both grasps the object and serves as the sensor for detection. The deformation of the suction pad during contact provides direct information about object position and orientation, eliminating the need for separate sensing systems and ensuring reliable detection that is independent of object material or color properties.
Solution Approach 2:
The patent replaces optical or electromagnetic sensing systems with a mechanical sensing approach. By measuring the physical deformation of the suction pad through strain gauges or similar mechanical sensors, the system achieves reliable detection that is unaffected by optical interference, electric noise, or object surface properties.
3Measurement precision
If the suction pad is used to detect object orientation through deformation after contact, then high accuracy orientation correction can be achieved without environmental disturbances, but the system requires precise measurement of suction pad deformation
Solution Approach 1:
The detection function is merged with the suction pad structure itself. Strain gauges or deformation sensors are integrated directly into the suction pad, combining the grasping and sensing functions into a single unified component. This reduces overall system complexity compared to using separate external sensors while achieving high measurement precision.
Solution Approach 2:
The system measures changes in physical parameters (deformation, strain) of the suction pad to infer object characteristics. By monitoring how the suction pad's shape and dimensions change during contact, the system can calculate object position and orientation with high accuracy without requiring complex external sensing systems.
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 solution enables high-accuracy orientation correction of the suction pad, reducing errors in object picking and placement, and is not affected by environmental disturbances or object characteristics.
Implementation Method 1
negative pressure is generated in the suction pad, and a workpiece or the like, which is an object to be conveyed, is suctioned and picked up with the suction pad
Implementation Method 2
obtain information on deformation of a suction portion that suctions an object with negative pressure, and that is deformed by the negative pressure
Data Source
AI summary
A controller includes: a deformation information obtaining unit configured to obtain information on deformation of a suction portion that suctions an object with negative pressure, and that is deformed by the negative pressure; and an operation control unit configured to control movement of the suction portion in accordance with deformation of the suction portion.