Robot Hand Alignment Control for Accurate Clip Placement
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Solution Overview
Problem
Robots face challenges in accurately placing components with manufacturing tolerances and varying positional relationships and angles due to deviations in size and shape, leading to incorrect placement on structural members during assembly processes.
Innovation Solution
A robot control system equipped with an imaging unit, calculation unit, and robot control unit that adjusts the robot hand's position and inclination based on imaging results to ensure precise placement of components on other members, utilizing a stereoscopic camera and position detection units for accurate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot hand grasps a component and moves it to another member, then labor is saved compared to manual work, but manufacturing tolerances and deviations in component size and shape cause the component to be placed at incorrect locations
Solution Approach 1:
The system images the component with an imaging unit, calculates its actual position and inclination, feeds this information back to the robot control unit, and adjusts the robot hand's position and inclination accordingly to achieve accurate placement despite manufacturing tolerances
Solution Approach 2:
The system performs preliminary imaging and calculation of the component's position and inclination before the robot hand moves the component, allowing pre-computation of adjustment parameters to ensure accurate placement
2Measurement precision
If the position of the robot hand is detected by a detection unit or laser tracker, then the position can be accurately detected, but the component still cannot be placed at the desired location due to varying positional relationships and angles
Solution Approach 1:
The system uses imaging results to detect the component's actual position and inclination, feeds this information back, and adjusts the robot hand's position and inclination accordingly, transforming static detection into dynamic correction
Solution Approach 2:
The system changes the robot hand's position and inclination parameters based on calculated values derived from imaging results, allowing adaptation to component variations while maintaining placement accuracy
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
Enables accurate arrangement of components on structural members, preventing positional deviations and ensuring correct alignment, even with manufacturing tolerances and varying angles, thereby improving assembly precision.
Implementation Method 1
an imaging unit configured to image the component grasped by the robot hand; a calculation unit configured to calculate, based on an imaging result of the component imaged by the imaging unit, a position of the component or an inclination of the component
Data Source
AI summary
To provide a robot control system and a robot control method capable of placing a component grasped by a robot hand at an accurate location on another member. A robot control system is provided with: a robot hand configured to grasp a clip; a camera configured to capture an image of the clip grasped by the robot hand, a calculation unit configured to calculate a position of the clip or an inclination of a component based on an imaging result of the clip captured by the camera, and a robot control unit configured to control the robot hand to adjust, based on the position of the clip or the inclination of the component calculated by the calculation unit, a position or an inclination of the robot hand and move the clip to a stringer.