Robot Control Apparatus for Accurate Liquid Injection via Force Sensing
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Solution Overview
Problem
Existing control apparatuses for industrial robots face challenges in accurately teaching the robot to eject a liquid agent to a target part, with variations depending on the worker and a lack of reliability due to manual positioning methods.
Innovation Solution
A control apparatus that generates teaching data based on the position and attitude of a movable unit with a force detection part, allowing the robot to inject materials accurately by sensing contact and adjusting its position and angle, reducing worker variability and improving reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual teaching method is used to move the nozzle little by little directly with a worker's hand, then the robot can be taught to perform work, but the teaching varies widely depending on workers and accuracy is difficult to achieve
Solution Approach 1:
The patent replaces the manual mechanical teaching method with an automated force sensing system. The force detection part objectively measures contact forces between the movable unit and object, substituting the subjective manual positioning process. This eliminates worker-dependent variations and achieves consistent, accurate teaching data collection.
Solution Approach 2:
The system enables self-service teaching by allowing the robot to automatically collect teaching data through force sensing during autonomous movement. The robot moves the movable unit itself while the force detection part records contact points, eliminating the need for manual worker intervention and ensuring consistent teaching results.
2Reliability
If visual confirmation by worker is required to determine contact, then the worker can verify positioning, but the process becomes time-consuming and reliability is reduced due to human variability
Solution Approach 1:
The patent replaces visual confirmation with force-based detection. The force detection part objectively measures contact forces, providing reliable contact detection without requiring worker visual verification. This eliminates human variability and significantly reduces teaching time while maintaining or improving accuracy.
3Manufacturing precision
If the movable unit is positioned at contact point with object, then the robot can perform work, but the injection position may not be at the optimal distance from the object surface
Solution Approach 1:
The patent performs preliminary action by detecting the contact point first, then calculating and positioning the movable unit at the optimal distance from the object surface based on the contact point information. This preliminary detection enables subsequent precise positioning at the correct injection distance, improving manufacturing precision.
Solution Approach 2:
The force detection part serves as an intermediary between the movable unit and the object. It detects contact forces and provides information that enables calculation of the optimal positioning distance, mediating between simple contact detection and precise injection positioning.
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 control apparatus enables the robot to perform tasks with high accuracy in injecting materials to the appropriate part, shape, and size, reducing worker-dependent variations and enhancing the reliability of the work performed.
Implementation Method 1
a force detection part, including a generation part that generates teaching data in a position of the movable unit when the movable unit is moved from the object by a first distance after sensing of contact between the movable unit and the object based on output from the force detection part
Implementation Method 2
based on output from an angle detection part that detects an angle of the injection part with respect to the object
Data Source
AI summary
A control apparatus that controls a robot having a force detection part and a movable unit including an injection part that can inject an injected material to an object, includes a processor that is configured to generate teaching data in a position of the movable unit when the movable unit is moved from the object by a first distance after sensing of contact between the movable unit and the object based on output from the force detection part.