Robot Connector Fitting Check Using Lateral Force Position
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Solution Overview
Problem
Existing fitting methods using robots to determine the condition of connectors may falsely determine a firmly fixed connection as good, due to reliance on force measurements in release directions.
Innovation Solution
A method involving a robot system with a movable unit and force detection unit, where the first object is moved in a fitting direction, a determination direction different from the fitting direction, and the fitting condition is determined based on the second position's force magnitude reaching a reference value within an acceptable position range set relative to the first position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the fitting condition is determined according to the force for moving the objects in the release directions, then the determination process is simple, but fitting in which the objects are firmly fixed may be falsely determined as being good
Solution Approach 1:
Instead of determining fitting quality by applying force in the release direction (conventional approach), the invention applies force in the fitting direction and evaluates the resistance force. This inversion of the evaluation direction allows accurate detection of firm fittings, as firmly fixed objects will exhibit high resistance when pushed further in the fitting direction, preventing false determination of good fitting condition.
2Stability of the object's composition
If a pulling force smaller than the force that can release the fitting is applied, then the objects remain connected, but the fitting condition cannot be accurately assessed
Solution Approach 1:
The invention changes the evaluation parameter from 'force required to release fitting' to 'resistance force when applying force in fitting direction'. By measuring the resistance force generated when the first object is pushed in the fitting direction, the system can accurately assess fitting condition while maintaining connection stability, as the resistance force directly reflects the strength of the fitting engagement.
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 reduces the likelihood of false determinations by ensuring the fitting condition is accurately assessed, enhancing the reliability of connector fitting evaluations.
Implementation Method 1
a force detection unit detecting a force applied to the movable unit
Data Source
AI summary
A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.