Robot Gripping Unit for Flexible Cable Connector Coupling
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Solution Overview
Problem
Existing robot systems face difficulties in accurately coupling flexible flat cables to connectors due to inaccurate gripping positions, leading to failed coupling operations.
Innovation Solution
A robot system equipped with a gripping unit and a force detection unit that employs distinct gripping forces to convey, correct, and insert the cable into a connector, utilizing a first gripping force for conveyance, a second force for posture correction, and a third force for insertion, controlled by a robot control apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a single gripping force is used to convey and insert the cable, then the structure is simple, but the coupling accuracy deteriorates due to inability to correct cable posture
Solution Approach 1:
The patent segments the cable handling process into three distinct phases (conveyance, posture correction, insertion), each with its own gripping force level. This segmentation allows the system to optimize gripping force for each specific task, improving coupling accuracy while maintaining manageable control complexity through clear phase differentiation.
Solution Approach 2:
The patent implements dynamic adjustment of gripping force based on the operational phase. The gripping force transitions from first level during conveyance, to second level during posture correction, to third level during insertion. This dynamic adaptation enables the system to respond to different operational requirements, resolving the contradiction between precision and complexity.
2Stability of the object's composition
If gripping force is increased to secure cable position, then positioning stability improves, but cable damage risk increases
Solution Approach 1:
The patent applies different gripping force levels at different operational stages rather than using a uniformly high force throughout. During conveyance, a moderate first gripping force maintains stability without excessive pressure. During insertion, a higher third gripping force is applied only when needed for precise positioning. This localized adaptation of force intensity ensures positioning stability while protecting cable integrity.
Solution Approach 2:
The patent changes the gripping force parameter dynamically across different operational phases. By transitioning from first gripping force (conveyance) to second gripping force (posture correction) to third gripping force (insertion), the system optimizes the force parameter for each specific task, achieving stable positioning without consistently applying excessive force that could damage the cable.
3Strength
If gripping force is decreased to protect cable, then cable integrity is maintained, but positioning accuracy deteriorates
Solution Approach 1:
The patent applies a moderate first gripping force during the conveyance phase to preliminarily position the cable and prevent damage. This preliminary action prepares the cable for the subsequent posture correction phase, where a second gripping force will be applied. This staged approach ensures the cable is securely held without excessive force from the beginning, maintaining integrity while setting up for accurate positioning.
Solution Approach 2:
The patent maintains continuous gripping action throughout all phases (conveyance, posture correction, insertion) with appropriately adjusted force levels. The gripping force never drops to zero but transitions smoothly between first, second, and third levels. This continuous action ensures the cable remains securely positioned throughout the entire process, maintaining both integrity and positioning accuracy without interruption.
Data Source
AI summary
A robot system that performs work of coupling a cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.