Robot Hand Control Switching for Stable Grip During Conveyance
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Solution Overview
Problem
Existing robot hand systems face challenges in rapidly switching from gripping to conveyance operations without positional deviation, as they require time to adjust gripping force when switching from force control to position control, leading to inefficiencies and potential errors in assembly processes.
Innovation Solution
A robot hand system with a force control unit, position control unit, and a control switching unit that stores the gripping force control value before switching from force control to position control, allowing for immediate conveyance without losing gripping force, by applying the stored force control value during the transition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If switching from force control to position control is performed by setting the control value to 0, then the control can be switched, but the gripping portion is pushed back causing fluctuation in gripping force and requiring additional time to stabilize
Solution Approach 1:
The patent applies preliminary action by storing the control value immediately before switching from force control to position control. This stored value is then used as the initial control value during position control, preventing the gripping portion from being pushed back and eliminating the need to wait for stabilization. The switching is achieved by retrieving the pre-stored control value rather than setting it to 0.
2Manufacturing precision
If waiting for position control to complete before conveyance, then positional accuracy is ensured, but processing time increases
Solution Approach 1:
The patent applies preliminary action by pre-storing the control value before switching control modes. This allows the system to maintain accurate gripping force control during the transition to position control, eliminating the need to wait for position control to complete before beginning conveyance. The robot can immediately start conveyance while maintaining both positional accuracy and gripping force stability.
3Device complexity
If the control value is set to 0 during position control, then the system simplifies the switching process, but the gripping force fluctuates and requires additional processing time
Solution Approach 1:
The patent applies preliminary action by storing the control value immediately before switching from force control to position control. This stored value is retrieved during position control to maintain stable gripping force, avoiding the need to set the control value to 0. The solution maintains simplicity in the switching process while preventing time loss due to gripping force fluctuations.
Data Source
AI summary
There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.