Robot Assembly Alignment Using Tilted Surface Contact
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Solution Overview
Problem
Existing robot apparatuses face challenges in accurately aligning objects with non-angular corner portions during assembly, leading to increased costs due to the need for positioning devices, especially when dealing with round shapes.
Innovation Solution
A robot apparatus equipped with a robot arm, force detection unit, and control device that tilts objects, maintains contact, and aligns surfaces based on force detection values, allowing for successful assembly without a positioning device, regardless of object shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a positioning device is used to accurately determine the position of the object to be assembled, then the manufacturing precision is improved, but the device complexity and cost increase
Solution Approach 1:
The object to be assembled serves its own positioning function by utilizing its geometric features (corner portions, surfaces) to automatically align with the fitting component through contact-based alignment, eliminating the need for external positioning devices
Solution Approach 2:
The corner portion of the fitting component acts as an intermediary element that facilitates alignment between the fitting component and the object to be assembled, enabling precise positioning through geometric contact rather than requiring complex positioning machinery
2Ease of operation
If corner portions are used for alignment, then the ease of operation is improved for angular shapes, but the adaptability deteriorates for round shapes
Solution Approach 1:
The alignment method changes from corner-based (point contact) to surface-based (area contact) alignment by tilting the fitting component, allowing the system to adapt to different object shapes including round shapes that lack distinct corner portions
Solution Approach 2:
The surface-based alignment method using tilted fitting components provides a universal alignment approach that works for both angular objects with corner portions and round objects without corners, making the system versatile for various shapes
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 approach increases the chances of successful assembly by reliably aligning objects' positions without the need for costly positioning devices, even with complex shapes, and reduces the likelihood of assembly failures.
Implementation Method 1
a force detection unit configured to detect a force
Data Source
AI summary
A robot apparatus which does assembly by tilting a workpiece which is to be a fitting component, and bringing a part of a surface of the workpiece which is the fitting component and a part of a surface of a workpiece which is to be a fitted component, into contact with each other a plurality of times, when inserting the workpiece which is the fitting component into the workpiece which is the fitted component.