Robot Fitting Device with Dynamic Orientation Search
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Solution Overview
Problem
Existing fitting technologies face challenges in correcting the orientation of workpieces with low moment detection, leading to inefficient and potentially damaging fitting processes due to insufficient moment for correction and prolonged processing times.
Innovation Solution
A fitting device and method that utilize a robot to detect forces and moments, change the orientation of the workpiece about orthogonal axes, and search for a proper orientation based on detected forces and speeds, allowing for efficient fitting without damaging the workpiece by reducing the frequency of force application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the pressing force between workpieces is increased to generate sufficient moment for orientation correction, then the moment for correction is improved, but the risk of damage to the workpiece increases
Solution Approach 1:
The patent applies dynamic orientation searching by periodically changing the orientation of the workpiece during the fitting process. The orientation searching section rotates the workpiece around orthogonal axes to actively search for the correct fitting orientation, replacing the static approach of relying solely on moment-based correction. This dynamic approach allows finding the correct orientation without requiring excessive pressing force that could damage the workpiece.
Solution Approach 2:
The patent changes the orientation parameters of the workpiece systematically during the fitting process. By varying the orientation angles around orthogonal axes and detecting the corresponding fitting forces, the system identifies the optimal orientation parameters for fitting. This parameter change approach enables orientation correction through controlled variation rather than through high-force moment application.
2Ease of operation
If the rigidity of the robot or workpiece is low, then the ease of operation is improved, but the detection precision of moment required for orientation correction deteriorates
Solution Approach 1:
The patent replaces the mechanical moment-based orientation correction system with a force-based orientation searching system. Instead of relying on detecting small moments through rigid mechanical contact, the system uses force sensors to detect fitting forces during orientation searching. This substitution allows flexible, low-rigidity systems to achieve precise orientation correction through force feedback rather than moment detection.
3Device complexity
If the conventional force control method is used with low moment detection, then the device complexity is reduced, but the productivity deteriorates due to prolonged processing time
Solution Approach 1:
The patent performs preliminary orientation searching before the main fitting operation. The orientation searching section proactively searches for the correct orientation in advance by rotating the workpiece and detecting fitting forces, so that when the fitting operation begins, the workpiece is already in the correct orientation. This preliminary action prevents prolonged processing time during the actual fitting, improving productivity without significantly increasing overall system complexity.
Solution Approach 2:
The patent employs periodic orientation searching by rotating the workpiece around orthogonal axes in a systematic sequence. The orientation searching section periodically varies the orientation angles and detects corresponding forces, creating a periodic search pattern that efficiently identifies the correct fitting orientation. This periodic action accelerates the orientation correction process compared to continuous or trial-and-error methods.
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
The solution enables efficient fitting processes with reduced risk of damage, completing the fitting process in a shorter time even with low rigidity and low moment detection, by automatically switching between searching and force control operations.
Implementation Method 1
a force detecting part adapted to detect a force applied to the second workpiece
Data Source
AI summary
A fitting device and a fitting method, by which the fitting process can be carried out without damaging workpieces, even when a sufficient moment cannot be detected by pressing the workpiece in the fitting direction. The device includes a fitting status judging part adapted to judge whether a second workpiece is in motion in a fitting direction relative to a first workpiece; a workpiece orientation searching part adapted to change a current orientation of the second workpiece when it is judged that the second workpiece is not in motion in the fitting direction, and search a proper orientation for the second workpiece based on a detected force or speed of the second workpiece in the fitting direction, during the change of the orientation; and a fitting motion commanding part adapted to command a robot which grips the second workpiece to continue the fitting operation, by using the searched proper orientation.