Robot Press-Fitting Control With Remaining-Time Correction Cutoff
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Solution Overview
Problem
Existing robot control methods often result in increased cycle time when a correcting operation is required, such as during insertion or press-fitting, due to uncertainties in operation times for searching and biting canceling operations.
Innovation Solution
A control device and method that includes a measuring, calculating, and comparing part to determine the elapsed and remaining time for correcting operations, interrupting the operation when the remaining time is less than the required time to prevent cycle time elongation, utilizing a force sensor to precisely determine the start and end of these operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a correcting operation is performed when insertion or press-fitting operation does not end normally, then the operation reliability is improved, but the allowed cycle time is increased
Solution Approach 1:
The control device calculates and determines in advance whether to perform a correcting operation by comparing the remaining time with the required operation time before the correcting operation starts, rather than making the determination during the operation. This preliminary determination prevents cycle time elongation by proactively identifying operations that should be interrupted.
Solution Approach 2:
The control device continuously monitors the elapsed time of the correcting operation and compares it with the required operation time, using this feedback information to determine whether to interrupt the operation. This real-time feedback mechanism ensures that the correcting operation does not exceed the allowed cycle time.
2Reliability
If the correcting operation is allowed to complete without time monitoring, then the operation reliability is improved, but the productivity is decreased
Solution Approach 1:
The control device dynamically adjusts the correcting operation execution by continuously monitoring elapsed time and comparing it with the required operation time. The operation is interrupted when the remaining time becomes less than the required time, creating a dynamic time-management system that balances reliability and productivity.
Solution Approach 2:
The control device changes the operational parameter (time allocation) for correcting operations by calculating the remaining time based on elapsed time and comparing it with the required operation time. This parameter change approach allows flexible adjustment of correcting operation duration to maintain productivity while ensuring reliability.
Data Source
AI summary
The disclosure is provided to shorten a total allowed cycle time of insertion or a press-fitting operation. A control device of a robot performing insertion or a press-fitting operation includes: a measuring part, measuring an elapsed time from a time point of starting a correcting operation in a case where the insertion or the press-fitting operation does not end normally; a calculating part, calculating a total remaining time of the correcting operation by subtracting a time from a start to an end of the correcting operation from a preset total allowed time of the correcting operation; a comparing part, comparing the remaining time with a required operation time which is an elapsed time from the start to the end of the correcting operation; and a control part, interrupting the correcting operation before the allowed time elapses in a case where the remaining time is less than the required operation time.