Connection Jig With Force Conversion for Precise Robotic Mating
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Solution Overview
Problem
Existing robot systems face challenges in accurately connecting a connection target, such as a connector or wiring member, with a target to be connected due to degraded force detection accuracy when external forces are applied from directions other than the intended connection direction, affecting the precision of the connection process.
Innovation Solution
A connection jig equipped with a sensor having a passive and fixation part, first, second, and third joining parts, and a bearing part, which allows for accurate detection and conversion of forces around a rotation axis, ensuring precise alignment and connection between the connection target and the target to be connected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a hexaxial force sensor is used to detect force on the end effector, then connection accuracy is improved, but force detection accuracy is degraded when external forces are applied from directions other than the connection direction
Solution Approach 1:
A force conversion mechanism (including lever arms and force conversion parts) is introduced as an intermediary between the connection target and the force sensor. This mechanism converts forces applied from various directions into unidirectional forces that the sensor can accurately measure, resolving the contradiction between maintaining connection accuracy and preserving force detection accuracy under multi-directional loading.
Solution Approach 2:
The system changes the parameter of force direction by using the force conversion mechanism to transform multi-directional forces into unidirectional forces aligned with the sensor's measurement axis. This parameter transformation allows the sensor to maintain high detection accuracy while the system handles connections subject to forces from various directions.
2Productivity
If automation is advanced using robot systems, then productivity is improved, but connection accuracy is degraded due to force detection degradation
Solution Approach 1:
The force conversion mechanism serves as an intermediary that enables automated robot systems to maintain connection accuracy. By converting complex multi-directional forces into simple unidirectional measurements, the system allows automated control while preserving the precision needed for accurate connection, thus resolving the contradiction between automation and precision.
3Device complexity
If the sensor detects force in the original direction, then the structure is simple, but connection accuracy is degraded when forces are applied from different directions
Solution Approach 1:
The force detection system is segmented into two functional parts: a force conversion mechanism that handles multi-directional forces and converts them to unidirectional forces, and a simple force sensor that only needs to detect force in one direction. This segmentation allows the sensor to remain structurally simple while the overall system maintains high connection accuracy through the conversion mechanism.
Data Source
AI summary
A connection jig includes a sensor provided with a passive part and a fixation part that are respectively arranged at one end and another end in a direction of a rotation axis thereof and detecting a force around the rotation axis with respect to the passive part, a first joining part joining the passive part and a holding part, a second joining part joining the fixation part and a automated transportation part, a third joining part joined to the first joining part and supported by the second joining part to be rotatable around the rotation axis, and a bearing part provided between and attached to the first joining part and the third joining part and arranged at a position where a rotation axis thereof is coaxial with the rotation axis of the sensor.