Workbench Robot Scooping for Milligram-Accurate Weighing
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Solution Overview
Problem
Existing robots struggle to accurately weigh and transfer powdery, particulate, or viscous materials for chemical experiments and biological sample handling due to difficulties in estimating and controlling the collection amount with high precision, especially when milligram-level accuracy is required.
Innovation Solution
A robot system with a workbench robot and controller that automates the scooping and transferring process using a spatula, measures the weight of the material in a transfer destination container, and adjusts operations to achieve precise weight accuracy by repeating scooping and transferring in forward or reverse directions as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot uses a collection unit to scoop and transfer material, then automation is achieved, but the accuracy of collection amount estimation deteriorates
Solution Approach 1:
The robot performs multiple scooping operations with feedback from weight measurements after each scoop. The controller adjusts the number of scooping operations based on the measured weight, comparing it against the target weight and deciding whether to continue scooping, discard material, or stop, thereby achieving precise weight control through iterative feedback
Solution Approach 2:
The robot performs preliminary scooping operations to accumulate material in the collection unit before final transfer. By pre-scooping multiple times and then adjusting the final amount through discarding or additional scooping based on weight feedback, the system achieves precise weight control
2Manufacturing precision
If a robot drops excess material from the collection unit, then the collection amount approaches target value, but the actual collection amount control accuracy deteriorates
Solution Approach 1:
The controller measures the actual weight after scooping and uses this feedback to determine the next action. Based on comparing measured weight with target weight and calculating the difference, the controller decides whether to scoop more, discard excess, or stop, achieving precise weight control through measurement-feedback-adjustment cycles
Solution Approach 2:
The robot intentionally scoops more material than the target amount (excessive action) and then discards the excess to reach the target weight. This approach allows the collection unit to accumulate sufficient material through multiple scooping operations, then adjust downward by discarding, which is more controllable than trying to scoop exactly the right amount from the start
3Measurement precision
If milligram-level weight accuracy is required for chemical experiments, then measurement precision improves, but the difficulty of detecting and measuring deteriorates
Solution Approach 1:
The system uses continuous weight measurement feedback to control the scooping process. After each scooping operation, the weight is measured and compared with the target weight, and the controller adjusts subsequent operations based on the difference, enabling milligram-level precision through iterative measurement and adjustment
Solution Approach 2:
The patent replaces manual weighing operations with an automated robot system that uses electronic weight sensors and computer control. This substitution of mechanical/manual processes with electronic measurement and automated control enables higher precision at the milligram level
Data Source
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AI summary
A robot system (100) includes a workbench robot (20) that is fixed to a workbench and includes a mechanism for gripping an object on the workbench, and a centralized controller (30) that controls an operation of the workbench robot (20), in which the centralized controller (30) executes a weighing process of causing the workbench robot (20) to grip a spatula, perform an operation of scooping and transferring a powdery material, a particle, or a viscous material as a weighing target, which is put in an original container, to a transfer destination container by using the spatula, measure a weight of the material in the transfer destination container by using a scale, and acquire a measurement result.