Vehicle Module Alignment Using Joint Error Compensation
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Solution Overview
Problem
Conventional module attachment methods fail to achieve sufficient centering accuracy due to position errors in vehicles stopped at a prescribed position or modules grasped by industrial robots.
Innovation Solution
The method involves measuring and correcting position errors in both the vehicle body and the module using industrial robots with sensors to align vehicle body side joints and module side joints, ensuring accurate centering by compensating for errors in the X, Y, and Z directions and angles, allowing for precise alignment and attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional module attachment method is used, then the attachment process is simple, but the centering accuracy is insufficient due to position errors of vehicle body or module
Solution Approach 1:
The patent applies preliminary action by measuring the positions of vehicle body side joints and module side joints before the attachment process. The measurement step is performed in advance to detect position errors, and correction values are calculated beforehand. This allows the industrial robot to compensate for position errors during attachment, thereby improving centering accuracy without adding complex real-time correction mechanisms.
Solution Approach 2:
The patent implements feedback by using measured position data of vehicle body side joints and module side joints to calculate correction values. The measurement results are fed back to adjust the attachment position, creating a closed-loop control system. This feedback mechanism enables the system to automatically compensate for position errors and achieve high centering accuracy.
2Manufacturing precision
If position measurement and correction is implemented, then centering accuracy is improved, but the attachment process becomes more complex
Solution Approach 1:
The patent applies self-service by enabling the attachment system to automatically measure, calculate correction values, and adjust positions without requiring manual intervention. The industrial robot performs measurement, calculation, and correction operations autonomously based on programmed instructions, reducing the need for complex manual adjustment procedures and simplifying the overall manufacturing process.
3Manufacturing precision
If multiple measurement points are used for correction, then centering accuracy is improved, but the measurement time increases
Solution Approach 1:
The patent applies partial action by selecting specific critical measurement points (vehicle body side joints and module side joints) rather than measuring the entire surface. This targeted measurement approach achieves sufficient centering accuracy by focusing on the most influential positions, thereby reducing measurement time while maintaining the required precision level.
Data Source
AI summary
An attachment method basically includes detecting a vehicle body side error; a detecting a module side error; correcting the position of a module in the X, Y and Z directions and the angles W, P, and R with respect to each axis based on the vehicle body side and the module side errors; detecting a vehicle body center Bc by measuring both the left and right sides of a vehicle body using the vehicle body side error; detecting a module center by measuring both the left and right sides of the module using the vehicle body side error; and correcting the position of the module based on the vehicle body center and the module center to realize sufficient accuracy by correcting position errors of the vehicle body and the module even in a case in which a positional error exist.