Robot Cable Coupling via Speed-Adaptive Force Control

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Solution Overview

Problem

Existing robot systems require skilled programming for force control, making it difficult to change control programs, especially for tasks like coupling flexible cables to connectors, which can be cumbersome and dependent on programmer proficiency.

Innovation Solution

A robot system equipped with a gripping unit, force detection unit, control unit, insertion speed entry part, memory unit, and determination unit that uses a calibration curve to determine force control information for inserting cables into connectors based on insertion speed, allowing for automated and proficient coupling operations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If force control is used for cable insertion, then coupling precision is improved, but programming complexity increases

Engineering Contradiction:

Improvecoupling precisionVSAvoidprogramming complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

A force detection unit is introduced as an intermediary between the gripping unit and the control unit. This unit automatically detects insertion completion by monitoring force changes, eliminating the need for complex programming while maintaining precise force control during cable insertion

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The force detection unit provides real-time feedback on insertion status by detecting force changes. The control unit uses this feedback to automatically determine when insertion is complete, replacing complex programming logic with automated sensor-based decision making

Inventive Principle:

Principle #23Feedback

2Measurement precision

If skilled programmers are used for force control, then control accuracy is improved, but operational ease deteriorates

Engineering Contradiction:

Improvecontrol accuracyVSAvoidoperational ease

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The force detection unit performs self-service by automatically detecting insertion completion and providing feedback to the control unit. This eliminates the need for skilled programmers to manually program force control parameters, making the system easy to operate while maintaining high control accuracy

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Manual programming of force control parameters is replaced with automated force detection and feedback mechanisms. The system transitions from requiring skilled human programming to using sensor-based automated control, improving operational ease while preserving control accuracy

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS11230010B2Robot system and coupling method

Publication Date: 2022.01.25 SEIKO EPSON CORP

AI summary

A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.