Robot Assembly Alignment for Plug and Socket Engagement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Position-based control in industrial robots is inadequate for scenarios where relative locations and postures of objects to be assembled are inconsistent, leading to incomplete assembly processes that require manual correction, such as in the assembly of plugs and sockets.
Innovation Solution
A method involving a robot that moves an operating member towards an adapting member in an assembly direction, utilizing a moving mode that includes both in-plane movement and posture adjustment, with continuous force application until a preset condition for completion is met, allowing for automated assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If position-based control is used for robot assembling, then the control method is simple, but the robot cannot handle inconsistent relative locations and postures of objects
Solution Approach 1:
The patent applies dynamics by transitioning from static position-based control to dynamic force-based control. The robot uses force control to continuously adjust the operating member's position and posture during assembly, enabling adaptation to inconsistent object locations and postures while maintaining manageable system complexity through controlled force application.
Solution Approach 2:
The patent changes the control parameter from position to force. By applying continuous force in the assembly direction and using force feedback to determine moving modes, the system achieves higher adaptability to object variations without requiring complex position calculation and adjustment mechanisms.
2Extent of automation
If manual operation is used to correct assembly errors, then the assembly precision can be improved, but the automation degree decreases
Solution Approach 1:
The robot system performs self-correction during the assembly process by using force feedback to automatically detect engagement status and adjust the operating member's position and posture. This eliminates the need for manual intervention while maintaining high assembly precision through the robot's own sensing and adjustment capabilities.
Solution Approach 2:
The patent implements feedback control by continuously monitoring the force applied during assembly and using this information to determine when to switch moving modes or stop the assembly process. This feedback mechanism enables the robot to automatically correct position and posture deviations, achieving high precision without manual correction.
3Reliability
If force is applied continuously during moving mode adjustment, then the engagement stability is improved, but the control complexity increases
Solution Approach 1:
The force application mechanism serves multiple functions simultaneously: it provides continuous contact force for stable engagement, acts as a sensing mechanism for detecting object engagement status, and enables automatic switching between different moving modes. This multi-functionality improves engagement stability without proportionally increasing control complexity.
Data Source
AI summary
A method for assembling an operating member and an adapting member by a robot is provided. According to the method, the operating member is moved to the adapting member in an assembly direction until the operating member reaches the adapting member. A moving mode for adjusting the operating member is determined, in which the moving mode includes one or both of a moving-in-plane mode and a posture-adjusting mode. The operating member is moved in the determined moving mode and applied a force continuously in the assembly direction during movement. It is determined whether a preset condition for a completion of the assembling of the operating member and the adapting member is satisfied. And the movement of the operating member in the determined moving mode is stopped or the applied force is stopped when it is determined that the preset condition is satisfied.