Robot Arm Anti-Weight Gripping for Precision Insertion
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Solution Overview
Problem
Existing robots face challenges in efficiently inserting objects due to deformation and positional shifts caused by weight, leading to longer inspection times and difficulty in completing predetermined tasks.
Innovation Solution
A robot system equipped with an arm and a force detector that holds objects from both the gravity direction and the opposite direction, allowing for precise insertion and preventing positional shifts, with the ability to move objects apart if they come into contact at incorrect positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the first workpiece is gripped from the direction orthogonal to gravity by a hand, then the workpiece can be held, but the relative positional relationship between the workpiece and the hand shifts due to weight
Solution Approach 1:
The patent applies the anti-weight principle by gripping the first workpiece from both the gravity direction and the opposite direction. This dual-directional gripping method counteracts the gravitational force acting on the workpiece, preventing positional shifts that would otherwise occur due to weight. The hand exerts forces in opposite directions to balance gravity, thereby maintaining precise relative positioning between the workpiece and the hand during the fitting operation.
2Measurement precision
If the shape of the second workpiece is inspected by moving the first workpiece while maintaining contact, then the shape can be detected, but the workpieces may be deformed
Solution Approach 1:
The patent uses the anti-weight principle to prevent deformation during inspection. By gripping the first workpiece from both the gravity direction and the opposite direction, the system counteracts gravitational forces that would cause deformation during the inspection process. This allows the shape of the second workpiece to be detected through contact while maintaining the structural integrity of both workpieces.
3Measurement precision
If the inspection operation is performed by moving the workpiece, then the shape can be detected, but the time to perform the operation becomes longer
Solution Approach 1:
The patent applies the anti-weight principle by gripping the workpiece from both gravity direction and opposite direction, which stabilizes the workpiece position and enables more efficient inspection. This prevents the need for repeated adjustments and repositioning that would otherwise be required when deformation occurs, thereby reducing the overall inspection time while maintaining accurate shape detection.
Data Source
AI summary
A robot includes an arm, and a force detector that is disposed on the arm and detects a force, in which a first object is held from both of a gravity direction and a direction opposite to the gravity direction, and the first object is inserted into an insertion portion provided in a second object.