Robot Arm Press-Fit Assembly Using Bent-to-Propped Motion
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Solution Overview
Problem
Conventional robot systems face challenges in applying a large pressurizing force to works held by work holding units, as they require significant increases in motor or actuator capacity, and the turning units must withstand reactive forces, making it difficult to achieve efficient assembly.
Innovation Solution
A work assembling device configuration where the first and second arms are pivotally supported to allow for a controlled transformation from a bent to a propped state, enabling the application of a large pressurizing force by moving the end portion of the second arm along a reference line, which intersects the main axis, thereby simplifying the assembly process and reducing the necessary proof stress in the turning units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the capacity of each driving motor is increased considerably to pressurize the work in the tangential direction, then the pressurizing force is improved, but the device complexity and cost increase
Solution Approach 1:
The robot arm dynamically transforms from a bent state to a propped state that is close to linear along the reference line during the pressurizing operation. This dynamic configuration change allows the system to generate large pressurizing forces through mechanical leverage without requiring oversized motors throughout the entire system.
Solution Approach 2:
The system changes the geometric parameters of the robot arm configuration during operation. By adjusting the arm angles and positions to transform from bent to propped state, the mechanical advantage changes dynamically, enabling large pressurizing forces to be generated with standard motor capacities.
2Force
If the capacity of the pressurizing actuator is increased considerably to linearly move the work, then the pressurizing force is improved, but the device complexity and the proof stress requirement for turning units increase
Solution Approach 1:
Instead of using a high-capacity linear actuator, the system uses the dynamic transformation of the robot arm from bent to propped state to generate the pressurizing force. This dynamic mechanical advantage eliminates the need for high-capacity linear actuators and reduces the stress requirements for turning units.
Solution Approach 2:
The patent replaces the conventional high-capacity linear actuator system with a robot arm dynamic configuration system. By substituting direct linear actuation with dynamic arm transformation, the system achieves the same pressurizing effect with standard components and reduced stress requirements.
3Device complexity
If a simple configuration is used to pressurize the work, then the device complexity is reduced, but the pressurizing force is insufficient
Solution Approach 1:
The simple robot arm configuration achieves large pressurizing forces through dynamic transformation from bent to propped state. This dynamic approach allows a simple, standard robot configuration to generate forces that would otherwise require complex, high-capacity systems.
Solution Approach 2:
By changing the geometric parameters of the robot arm during operation (transforming from bent to propped state), the system achieves variable mechanical advantage. This allows a simple configuration to generate large forces when needed without requiring complex hardware modifications.
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
This configuration allows for the application of a large pressurizing force to the work using a simple device setup, effectively overcoming the limitations of conventional systems by distributing the reactive force through strategically positioned pivots, thus enabling efficient assembly with reduced mechanical stress.
Implementation Method 1
transform the first arm and the second arm from a bent state to a propped state that is close to a linear state along the reference line, and move the end portion of the second arm in a work pressurizing direction
Implementation Method 2
a root portion of a first arm is supported by a base via a first pivot, so as to be turnable around an axis line which is parallel with a main axis, a root portion of a second arm is supported by an end portion of the first arm via a second pivot
Data Source
AI summary
A robot 140 includes a control unit 160 configured such that a reference line L connecting a root portion of a first arm (upper arm 143) and an end portion of a second arm (forearm 144) is assumed on a main plane determined in a space where the robot 140 is installed, an angle β formed by the first arm (upper arm 143) and the reference line L is decreased while increasing a crossing angle α between the first arm (upper arm 143) and the second arm (forearm 144) on the side facing the reference line L, the end portion of the second arm (forearm 144) is moved in a work pressurizing direction (F direction) which is determined to be along the reference line L, and a work pressurizing unit (push-in unit 153) is pressurized in the work pressurizing direction (F direction) by the end portion of the second arm (forearm 144).