Robot Insertion Control With Time-Limited Correcting Operations
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Solution Overview
Problem
Existing robot control methods increase the allowed cycle time when a correcting operation is performed, such as in insertion or press-fitting operations, due to uncertainties in operation times.
Innovation Solution
A control device and method for a robot that includes a measuring part to track elapsed time, a calculating part to determine remaining time, and a control part to interrupt the operation when the remaining time is less than the required time, utilizing a force sensor to precisely determine the start and end of operations like searching and biting canceling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a correcting operation is performed when insertion or press-fitting operation does not end normally, then the operation reliability is improved, but the allowed cycle time is increased
Solution Approach 1:
The control device calculates the remaining time by subtracting the elapsed time from the total allowed time before the correcting operation starts. This preliminary calculation allows the system to proactively determine whether the correcting operation can be completed within the remaining time, enabling timely interruption if the condition is not met, thus preventing cycle time extension while maintaining reliability through selective correction
Solution Approach 2:
The control device continuously monitors the elapsed time during the correcting operation and compares it with the pre-calculated remaining time. This feedback mechanism allows real-time adjustment of the correcting operation, ensuring that if the operation exceeds the allowed time, it is interrupted, thereby preventing cycle time extension while still attempting reliability improvement when feasible
2Reliability
If the correcting operation is allowed to complete without time monitoring, then the operation reliability is improved, but the productivity is reduced
Solution Approach 1:
The control device performs preliminary calculation of the remaining time before the correcting operation starts. By determining in advance whether the correcting operation can be completed within the allowed time, the system can proceed with the correction only when time permits, thus maintaining productivity while still attempting reliability improvement when feasible
Solution Approach 2:
The control device dynamically adjusts the correcting operation based on real-time elapsed time monitoring. When the elapsed time approaches the remaining time, the system can interrupt or modify the correcting operation, creating a dynamic balance between completing corrections for reliability and maintaining overall production efficiency by avoiding excessive time consumption
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
This approach allows for a significant shortening of the total allowed cycle time during correcting operations, preventing unnecessary extensions in operation time even when searching and biting canceling operations are performed.
Implementation Method 1
a force sensor, and the start and the end of the correcting operation are determined based on a value detected by the force sensor
Data Source
Figure 1~2
Figure 3~4C
Figure 5A~5B
AI summary
A control device (50) of a robot that performs insertion or a press-fitting operation includes: a measuring part (73a), measuring an elapsed time from a time point of starting a correcting operation in a case where the insertion or the press-fitting operation does not end normally; a calculating part (73b), calculating a total remaining time of the correcting operation by subtracting a time from a start to an end of the correcting operation from a preset total allowed time of the correcting operation; a comparing part (73c), comparing the remaining time with a required operation time which is an elapsed time from the start to the end of the correcting operation; and a control part (73d), interrupting the correcting operation before the allowed time elapses in a case where the remaining time is less than the required operation time.