Robot Suction Pad Wrinkle Prevention for Thin Packaging
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Solution Overview
Problem
Conventional methods for suction-gripping workpieces with thin packaging materials often result in wrinkling, leading to increased product loss, as the suction force required to grip the workpiece can cause deformation and wrinkling of the packaging material, even if the content is not defective.
Innovation Solution
A method and device where the suction pad is pressed against the workpiece with the packaging material interposed, and suction is started only after the pad is in contact, allowing for flattening of the packaging material and reducing the likelihood of wrinkling, along with strategies like sliding the suction pad along the content's surface or discharging air to eliminate wrinkles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If suction force is increased to ensure sufficient gripping of the workpiece, then the gripping reliability is improved, but the packaging material may wrinkle or deform
Solution Approach 1:
The suction pad is pressed against the workpiece before starting suction to flatten the packaging material surface in advance. This preliminary pressing action eliminates wrinkles and deformations before the suction force is applied, allowing the subsequent gripping to be performed without causing packaging material damage.
Solution Approach 2:
The suction process is divided into distinct phases: first pressing the suction pad against the workpiece to flatten the packaging material, then starting suction to generate gripping force. This periodic separation of pressing and suction actions ensures that the packaging material is prepared before the harmful suction force is applied.
2Productivity
If suction is started before the suction pad contacts the workpiece to reduce operation time, then productivity is improved, but the packaging material may be pulled up causing wrinkles
Solution Approach 1:
The suction pad is pressed against the workpiece to flatten the packaging material before suction is started. This preliminary contact and pressing action prevents the packaging material from being pulled up when suction begins, eliminating the harmful effect while maintaining efficient operation timing.
3Reliability
If the suction pad is pressed hard against the workpiece to ensure contact, then contact reliability is improved, but the packaging material may wrinkle under the pressure
Solution Approach 1:
The suction pad is pressed against the workpiece for a predetermined period before suction is started. This preliminary pressing action flattens the packaging material surface and ensures reliable contact. By performing this pressing before suction begins, the packaging material is prepared to withstand the subsequent suction force without wrinkling.
Solution Approach 2:
The process separates the pressing phase from the suction phase. The suction pad is pressed against the workpiece during a preliminary period to flatten the packaging material, then suction is started in a subsequent phase. This periodic separation allows contact reliability to be established without causing wrinkles from combined pressure and suction.
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 effectively reduces the occurrence of wrinkling in the packaging material during the suction-gripping process, minimizing product loss by ensuring the packaging remains intact, even after transfer, thus maintaining product quality.
Implementation Method 1
a suction force sufficient to suction-grip the workpiece may cause wrinkling in the packaging material. The suction force is generated by suctioning air from a suction pad by using a pressure generating source such as a vacuum pump.
Data Source
AI summary
To provide a method of controlling a robot and a suction gripping device capable of preventing occurrence of wrinkling in a workpiece having a thin packaging material with a content contained therein. A method of controlling an industrial robot according to an embodiment, configured to suction and grip a workpiece having a thin packaging material with a content contained therein, includes: pressing a suction pad against the content with the packaging material interposed therebetween and, upon starting the suction, suction-gripping the workpiece by the suction pad. Starting suction may be performed in a state in which the suction pad is pressed to the content with the packing material therebetween or before the suction pad is pressed to the content.