Fitting Device Adjusting Workpiece Posture During Clogging
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Solution Overview
Problem
Existing fitting technologies face challenges in adjusting the posture of a fitting workpiece quickly due to clogging issues between the workpiece and the workpiece to be fitted, especially when forces and moments are balanced or disturbed by robot vibrations, leading to extended adjustment times and increased positional and postural errors.
Innovation Solution
A fitting device equipped with a force detecting portion, a judging portion, and a changing portion that adjusts the position of the control point and presses the workpiece perpendicularly to the fitting direction to adjust its posture, using a robot control unit to detect forces and moments and determine if clogging occurs, allowing for timely and accurate posture adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If force control is used to fit the workpiece, then fitting precision is improved, but adjustment time is greatly extended when clogging occurs
Solution Approach 1:
The patent dynamically changes the control point position based on the fitting depth. As the workpiece enters the target workpiece, the control point is shifted from the initial position to a position closer to the fitting interface. This dynamic adjustment allows the system to maintain force control precision while reducing adjustment time by adapting the control strategy to the current fitting state.
Solution Approach 2:
The patent changes the control parameters by adjusting the control point position according to the fitting depth. When clogging is detected, the control point is repositioned to optimize the moment arm and enable more effective posture adjustment, thereby reducing the time required to resolve clogging while maintaining fitting precision.
2Ease of operation
If the control point is fixed, then control simplicity is maintained, but posture adjustment efficiency decreases when clogging occurs
Solution Approach 1:
The control point is changed from a fixed position to a dynamic position that varies with fitting depth. The control unit automatically adjusts the control point coordinates based on real-time fitting depth measurements, enabling efficient posture adjustment during clogging without requiring complex manual intervention.
Solution Approach 2:
The patent implements a feedback mechanism where the fitting depth is continuously measured and used to determine the appropriate control point position. This closed-loop control allows the system to automatically adapt to clogging conditions and optimize posture adjustment efficiency while maintaining operational simplicity.
3Stability of the object's composition
If forces act at two points with opposite directions, then force balance is achieved, but the resultant moment becomes too low to adjust posture against robot vibrations
Solution Approach 1:
The patent changes the control point position parameter to optimize the moment generation. By positioning the control point closer to the fitting interface during clogging, the system increases the moment arm length and thereby the resultant moment, enabling effective posture adjustment even in the presence of robot vibrations while maintaining force balance.
4Speed
If the control point position is changed according to fitting depth, then posture adjustment speed is improved, but control complexity increases
Solution Approach 1:
The patent uses a feedback-based control strategy where the control point position is automatically adjusted based on measured fitting depth. This approach achieves fast posture adjustment by leveraging real-time depth information, while the control complexity is managed through automated calculations performed by the control unit rather than manual intervention.
Solution Approach 2:
The system performs self-adjustment of the control point position based on the fitting depth information it already possesses. The control unit automatically calculates and applies the appropriate control point coordinates, eliminating the need for external intervention or complex manual control procedures.
Data Source
AI summary
A fitting device for fitting a fitting workpiece, which is held by a robot, to a workpiece to be fitted by force control, comprises: a force detecting portion for detecting a force and moment acting on a control point of the fitting workpiece; a judging portion for judging whether or not clogging is caused between the fitting workpiece and the workpiece to be fitted at the time of fitting; and a changing portion for changing a position of the control point according to a distance by which the fitting workpiece enters the workpiece to be fitted and for pressing the fitting workpiece against the workpiece to be fitted in a direction perpendicular to the fitting direction so as to adjust a posture of the fitting workpiece on the basis of the control point that has been changed, in the case where it is judged by the judging portion that clogging is caused. Due to the foregoing, posture of the fitting workpiece can be appropriately adjusted in a short period of time so that the fitting workpiece can be fitted into the workpiece to be fitted.