Robot Connector Insertion Using Force Feedback Verification
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Solution Overview
Problem
Existing robot system control methods for inserting a male connector into a female connector based on camera-determined positions often result in erroneous insertion due to false detection, leading to improper insertion, as the detected position may differ from the real position.
Innovation Solution
A control method that includes detecting the position of the female connector using a camera, setting a reference position, and determining successful insertion by comparing the detected position with a comparison position where a force sensor detects a predetermined force during insertion, ensuring accurate alignment and contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the position of the insertion hole is detected based on an image captured by a camera, then the insertion position can be determined, but false detection may occur leading to erroneous insertion determination
Solution Approach 1:
The patent implements feedback by detecting the force generated during insertion and using this information to verify whether insertion was successful. The force detection provides feedback that corrects potential errors from camera-based position detection, allowing the system to determine actual insertion status rather than relying solely on predicted position.
Solution Approach 2:
The patent introduces force detection as an intermediary mechanism between position detection and insertion determination. Instead of directly determining insertion success from camera images alone, the system uses force detection as an intermediate verification step to confirm whether the male connector actually made proper contact with the female connector.
2Productivity
If the workpiece is inserted based on detected position, then insertion operation can be performed, but improper insertion may occur due to position discrepancy
Solution Approach 1:
The force detection during insertion provides real-time feedback that verifies whether the insertion operation achieved the desired result. This allows the system to detect improper insertion and correct it, ensuring manufacturing precision while maintaining operational efficiency.
Solution Approach 2:
The patent performs preliminary force detection during the insertion process to verify proper contact before completing the operation. By detecting force during movement, the system can identify and correct positioning errors before final insertion is declared complete, preventing improper insertion.
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 method reduces the probability of erroneous determination of successful insertion by comparing the reference and comparison positions, ensuring accurate alignment and reducing the risk of improper insertion or damage to the connectors.
Implementation Method 1
a position where a force sensor of the robot detects a predetermined force generated by contact between the male connector and the female connector during the movement
Data Source
AI summary
A control method for a robot system includes a detection step of detecting a position of a female connector, a reference position setting step of setting a reference position as a reference for determination as to whether or not an insertion of a male connector into the female connector is successful based on the position of the female connector, and an insertion operation step of moving the male connector in an insertion start position along an insertion direction of the female connector, with a position where a force sensor of a robot detects a predetermined force generated by contact between the male connector and the female connector during the movement as a comparison position, and determining whether or not the insertion is successful by comparing the reference position and the comparison position.