Dual-Robot Assembly Alignment for Large Object Rotation Error
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Solution Overview
Problem
In automatic assembling processes, large objects pose challenges due to increased rotation errors at the most distant edges, requiring higher accuracy or more complex adjusting/feedback systems, which increases costs and inefficiencies.
Innovation Solution
An apparatus and method utilizing two robots and an image sensor to align large objects by moving different distances or directions, with passive revolute joints and sensors to adjust torque and force, allowing for improved alignment without increasing individual robot accuracy or requiring complex systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single robot is used to assemble large objects, then the system structure is simple, but the rotation error at the most distant edge increases significantly
Solution Approach 1:
The patent divides the object into multiple portions (first portion and second portion) that are held by different robots. This segmentation allows each robot to handle a smaller segment, reducing the rotation error impact on any single portion while maintaining overall assembling accuracy for large objects.
2Manufacturing precision
If robot accuracy is increased to reduce rotation error, then assembling accuracy improves, but system cost increases
Solution Approach 1:
Instead of requiring a single high-accuracy robot, the system uses multiple robots with lower individual accuracy requirements. By segmenting the object and distributing it among multiple robots, the system achieves high overall assembling accuracy without the prohibitive cost of a single high-precision robot.
3Manufacturing precision
If a complicated adjusting/feedback system is added to improve accuracy, then assembling precision improves, but system complexity and cost increase
Solution Approach 1:
The patent reduces the need for complex adjusting/feedback systems by segmenting the object into multiple portions handled by different robots. Each robot controls a smaller portion with reduced rotation error, naturally improving accuracy without requiring elaborate compensation mechanisms.
Solution Approach 2:
The patent introduces a passive revolute joint as an intermediary mechanism between the robot end effector and the object. This joint passively compensates for positioning errors and facilitates alignment, reducing the need for active feedback control while maintaining assembling accuracy.
4Device complexity
If a single robot holds the entire object, then the end effector structure is simple, but the rotation error at distant edges increases
Solution Approach 1:
The object is divided into multiple portions held by different robots, with each robot's end effector holding only a portion rather than the entire object. This segmentation reduces the rotation error impact on any single end effector while maintaining overall assembling accuracy.
Solution Approach 2:
The passive revolute joint serves as an intermediary that connects the end effector to the object portion, providing passive rotation freedom. This allows the end effector structure to remain relatively simple while the joint compensates for positioning errors and enables accurate alignment.
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 assembly of large objects by reducing the accuracy requirements of individual robots and eliminating the need for complex adjusting/feedback systems, enhancing efficiency and reducing costs.
Implementation Method 1
a passive revolute joint comprising: an outer portion connected to one of the first and second elements; and an inner portion connected to the other one of the first and second elements and being rotatable about a rotation axis relative to the outer portion
Implementation Method 2
at least one of the first and second robots comprises an end effector configured to hold the object and comprising a torque sensor, the torque sensor being configured to sense a torque acted on the end effector
Implementation Method 3
the second robot comprises an end effector configured to hold the object and comprising a force sensor configured to sense a force acted on the end effector
Data Source
AI summary
An assembling apparatus and a assembling method. The assembling apparatus includes an image sensor arranged above an assembling station and a first robot arranged near to the assembling station. The first robot is configured to hold a first portion of an object to be assembled onto a target object arranged on the assembling station. The assembling apparatus includes a second robot arranged near to the assembling station and configured to hold a second portion of the object spaced apart from the first portion. The assembling apparatus includes a controller configured to cause the image sensor to capture images and control the first robot to move the first portion and based on the captured images, cause the second robot to move the second portion such that the object is aligned with the target object.