Advertisement
Published in:
2018 | OriginalPaper | Chapter
Bag Bin-Picking Based on an Adjustable, Sensor-Integrated Suction Gripper
Authors : Andreas Blank, Julian Sessner, In Seong Yoo, Maximilian Metzner, Felix Deichsel, Tobias Diercks, David Eberlein, Dominik Felden, Alexander Leser, Jörg Franke
Published in: Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
Publisher: Springer Berlin Heidelberg
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
Robot-based separation and handling of flexible packaging bags filled with small individual parts is a special challenge in the field of bin-picking. Reasons for this are challenges in the field of orientation and position recognition of bags within the extraction station, the damagefree and reliable handling of these bags as well as a precise bag deposition inside a target region (e.g. final packaging). This paper presents an adjustable, sensor-integrated suction gripper optimized for bag binpicking. The multi-modal sensing hardware used for the gripper is based on weight force measurement and vacuum sensors for the separation. Additional ultrasonic sensors are used to reduce the risk to damage the bag’s content and the gripper. The performed tests proof the feasibility of the approach in terms of robustness and achievable cycle times.