Robot Control Device for Efficient Object Insertion

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Solution Overview

Problem

Existing robot systems face inefficiencies and damage during the probing operation for inserting objects, as they require significant time and can result in positional deviations and object damage.

Innovation Solution

A control device that includes a force measurement unit and a holding unit, allowing for controlled operations such as first and second contacting operations and inserting operations, where the force control sets a target force component orthogonal to the primary direction, enabling efficient insertion without a probing operation by adjusting the orientation and contact points of the insertion and inserted objects.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a probing operation is performed to insert the insertion object into the inserted object, then the robot can achieve insertion, but the operation time becomes excessively long

Engineering Contradiction:

Improveinsertion successVSAvoidoperation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The robot performs a first contacting operation before the inserting operation to preliminarily position the insertion object against the inserted object. This preliminary contact establishes the correct orientation and position, eliminating the need for time-consuming probing operations during the actual insertion process

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The insertion process is divided into distinct segments: a first contacting operation to establish initial contact and orientation, and then an inserting operation to complete the insertion. This segmentation allows each operation to be optimized independently, with the contacting operation preparing the objects for efficient insertion without requiring continuous probing

Inventive Principle:

Principle #1Segmentation

2Reliability

If a probing operation is performed to insert the insertion object into the inserted object, then the robot can achieve insertion, but the insertion object or inserted object may be damaged

Engineering Contradiction:

Improveinsertion successVSAvoidobject damage

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The first contacting operation serves as a preliminary action that gently positions the insertion object against the inserted object without applying excessive force. This preliminary contact establishes the correct orientation and position before the actual insertion, preventing damage that would occur during forceful probing operations

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The control device controls the robot to perform the contacting operation with controlled force, cushioning against excessive contact forces before they can cause damage. This prepares the system for safe insertion by establishing contact conditions that prevent harmful forces during the insertion process

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Reliability

If a probing operation is performed to insert the insertion object into the inserted object, then the robot can achieve insertion, but the position of the inserted object deviates

Engineering Contradiction:

Improveinsertion successVSAvoidinsertion position accuracy

Core Design Contradiction:

ReliabilityVSManufacturing precision

Solution Approach 1:

The first contacting operation preliminarily positions the insertion object against the inserted object with high precision, establishing the correct orientation and contact point. This preliminary positioning ensures that the subsequent inserting operation maintains accurate positioning without deviation, eliminating the need for probing that causes position shifts

Inventive Principle:

Principle #10Preliminary action

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 efficient and precise insertion operations, reducing the time required and minimizing the risk of object damage by avoiding probing, thus improving the reliability and speed of the assembly process.

Implementation Method 1

a force measurement unit and a holding unit are installed... based on an output from the force measurement unit

Methodology Applied

Scientific EffectForce measurement: Force

Data Source

PatentUS10773399B2Control device and robot system

Publication Date: 2020.09.15 SEIKO EPSON CORP

AI summary

A control device controls the arm such that a first contacting operation of setting an object to a first orientation and bringing the object into contact with an inserted object is performed, and an inserting operation of setting the object to a second orientation different from the first orientation and inserting the object by moving the object in a first direction is performed. Between the first contacting operation and the inserting operation, the control device performs a second contacting operation of bringing the object and the inserted object into contact in a portion different from a contact portion in the first contacting operation by performing force control such that a component of a target force in a second direction orthogonal to the first direction is set to a value greater than 0 based on an output from the force sensor at an orientation at which the object is tilted.