Expansion Board Plug-In Alignment Using Force-Controlled Tilting
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Solution Overview
Problem
Existing methods for plugging expansion boards into plug-in couplings lack automation and reliability, often requiring high forces that can damage components and are not energy-efficient.
Innovation Solution
A device and method utilizing a robot manipulator with force-controlled, impedance-controlled, or admittance-controlled tilting motions to guide the expansion board into the plug-in coupling, reducing the required force and enhancing energy efficiency by using a control program that adjusts parameters for specific applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional force-fitting methods are used to plug expansion boards into plug-in couplings, then the connection is securely established, but high forces are required that can damage components and are not energy-efficient
Solution Approach 1:
The patent applies dynamic motion sequences (tilting, translating, rotating) instead of static force application. The robot manipulator executes a multi-phase dynamic plugging process where the expansion board is first tilted at a predetermined angle, then translated along a trajectory, and finally rotated to engage with the plug-in coupling. This dynamic approach reduces peak forces while maintaining connection reliability.
Solution Approach 2:
The patent changes the plugging parameters by introducing predetermined tilt angles and controlled translation distances. Instead of applying high linear force directly, the system uses angular parameters (tilt angle) and positional parameters (translation distance along trajectory) to guide the plugging process, reducing the force magnitude required while achieving secure connection.
2Extent of automation
If manual alignment and plugging methods are used, then flexibility is maintained, but automation and reliability are insufficient
Solution Approach 1:
The patent incorporates feedback mechanisms through the robot manipulator's control system that monitors the plugging process. The system uses force sensors and position feedback to detect when the expansion board has been successfully plugged into the plug-in coupling, ensuring reliable automated operation. The control system adjusts motion parameters based on real-time feedback to maintain connection quality.
Solution Approach 2:
The patent replaces manual mechanical alignment operations with an automated robot manipulator system. The robot executes predetermined motion trajectories and tilt angles with high precision, eliminating human variability and improving both automation extent and plugging reliability through consistent, repeatable motions.
3Strength
If high forces are applied during plugging, then the expansion board is securely connected, but energy efficiency decreases and components experience increased loading
Solution Approach 1:
The patent uses dynamic motion sequences (tilting, translating, rotating) instead of static force application. The robot manipulator executes a multi-phase dynamic plugging process where the expansion board is first tilted at a predetermined angle, then translated along a trajectory, and finally rotated to engage with the plug-in coupling. This dynamic approach reduces peak forces while maintaining connection reliability.
Solution Approach 2:
The patent changes the plugging parameters by introducing predetermined tilt angles and controlled translation distances. Instead of applying high linear force directly, the system uses angular parameters (tilt angle) and positional parameters (translation distance along trajectory) to guide the plugging process, reducing the force magnitude required while achieving secure connection.
Data Source
AI summary
Device for plugging a plug-in region of an expansion board into a plug-in coupling including: a first interface providing the coupling; a second interface providing the board; a robot manipulator having an effector; and a controller controlling the robot manipulator to plug the region into the coupling, the controller configured to execute a program for the robot manipulator to perform operations including: picking up the board at the second interface using the effector; guiding the board along a trajectory and target orientation of the region to the coupling; carrying out tilting motions of the region until reaching or exceeding a limit value condition G1 for a torque acting on the effector and/or a limit value condition G2 of a force acting on the effector, and/or reaching or exceeding a force/torque signature and/or a position/velocity/acceleration signature at the effector, indicating completion of plugging the region into the coupling within predefined tolerances.