Cable End Detection Using Tactile Slip Sensing

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Solution Overview

Problem

Existing methods for detecting the terminal end of a cable fail when there is no connector or member with a larger diameter at the cable end, as they rely on force detection with a connector, which is not applicable in such cases.

Innovation Solution

A cable terminal end detection method using a hand with a first and second gripping section that can move along the X-axis and open/close along the Z-axis, equipped with tactile sensors in the second gripping section, which detects the terminal end by sliding the cable and sensing the force change when it slips out of the gripping section.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If force detection with a connector is used to detect the cable terminal end, then the terminal end can be detected when a connector is present, but the detection fails when no connector or member with larger diameter is disposed at the terminal end

Engineering Contradiction:

Improvecable terminal end detection accuracyVSAvoidapplicability to cables without connectors

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent replaces the mechanical force detection method with a tactile sensor-based detection system. The tactile sensor detects the position of the cable terminal end by sensing contact forces during the sliding process, enabling detection without requiring a connector or member with larger diameter. This substitution allows the system to detect terminal ends of cables in various configurations including those without connectors.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent creates a universal detection system that can handle multiple cable types and configurations. By using a tactile sensor to detect changes in contact force during the sliding process, the system can detect terminal ends whether or not connectors are present, whether the cable has external markers, or whether the terminal end has different diameter characteristics. This multi-functional approach resolves the limitation of connector-dependent detection.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If a tactile sensor is disposed in the gripping section to detect cable slip-out, then the terminal end can be detected without a connector, but the system complexity increases

Engineering Contradiction:

Improvecapability to detect cables without connectorsVSAvoidhand structure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The tactile sensor in the gripping section serves dual purposes: it detects both the slip-out of the cable from the gripping section and the position of the terminal end during the sliding process. This self-service approach allows the same sensor to perform multiple detection functions, reducing the need for additional sensors or complex detection systems while maintaining the capability to detect cables without connectors.

Inventive Principle:

Principle #25Self-service

3Adaptability or versatility

If the cable is moved relatively to the hand along the X axis, then the terminal end detection can be performed without external markers, but the detection time increases

Engineering Contradiction:

Improvedetection capability for cables without external markersVSAvoidterminal end detection time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent performs preliminary gripping of the cable at a specific position before initiating the sliding movement. This preliminary action establishes a known reference point, allowing the tactile sensor to detect the terminal end position by measuring the distance the cable slips during the controlled movement. This approach enables detection without external markers while minimizing the time required, as the detection is based on the slip distance during a single controlled movement rather than requiring multiple measurements or complex marker recognition.

Inventive Principle:

Principle #10Preliminary action

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

Enables accurate detection of the cable terminal end without a connector, improving work efficiency by reliably identifying the end through force changes detected by tactile sensors, even in cables without external markers.

Implementation Method 1

detecting, with a tactile sensor disposed in the second gripping section to be in contact with the cable, that the cable has slipped out from the second gripping section

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS12168298B2Cable terminal end detection method and hand

Publication Date: 2024.12.17 SEIKO EPSON CORP

AI summary

A cable terminal end detection method includes a gripping step for gripping, using a hand including a first gripping section and a second gripping section disposed to be separated on an X axis and configured to open and close in a direction along a Z axis, a cable in two places separated in a longitudinal direction with the first gripping section and the second gripping section, a moving step for, in a state in which the cable is gripped by the hand, moving the cable to the first gripping section side in a direction along the X axis relatively to the hand, and a detecting step for detecting, with a tactile sensor disposed in the second gripping section to be in contact with the cable, that the cable has slipped out from the second gripping section and detecting that a terminal end of the cable is located between the first gripping section and the second gripping section.