Robot Joint Drive Integration for Assembly Tool Control
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Solution Overview
Problem
Existing systems for controlling and regulating industrial robot tools require significant effort due to the need for synchronized movement between the robot and tool components, often involving complex drive control systems and multiple components.
Innovation Solution
Integrate the robot's existing control system directly into the tool's function, utilizing one of the robot's machine axes to perform the tool's functions, replacing dedicated drive motors with the robot drive for the joint axis, and incorporating a sensor for quality monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tool with integrated drive is used for the robot, then the tool can perform assembly tasks independently, but the drive control system becomes complex and requires synchronization with the robot control system
Solution Approach 1:
The invention extracts the drive function from the tool and relocates it to the robot's articulated arm section. Instead of the tool having its own integrated drive, the robot's existing drive system is used to actuate the tool, thereby eliminating the need for a separate tool drive control system while maintaining full tool functionality
Solution Approach 2:
The robot's drive system is made multi-functional by enabling it to control both the robot's motion and the tool's functional elements. The same drive that moves the articulated arm also actsuates the tool's functional elements, making a single drive system serve multiple purposes and eliminating the need for dedicated tool drives
2Adaptability or versatility
If a tool with integrated drive is used for the robot, then the tool can perform assembly tasks independently, but the number of components increases
Solution Approach 1:
The invention merges the tool's drive components with the robot's existing drive system. Instead of having separate drive components in the tool, the robot's drive is directly coupled to actuate the tool's functional elements, reducing the total number of components while maintaining independent tool operation capability
Solution Approach 2:
The drive components are extracted from the tool and integrated into the robot system. This removal of redundant components from the tool simplifies the overall system architecture while preserving the tool's ability to perform its assembly tasks independently through robot-controlled actuation
Data Source
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AI summary
A system for the controlled executing of an assembly or manufacturing task, the system having an n-axis robot (1), preferably an industrial or universal robot, having a base and a jointed arm (20) which is connected to the base, can be moved in n machine axes (R1 to Rn) relative to the base, and has a first jointed arm portion (26) and a second jointed arm portion (27) which are connected in a robot joint such that they can be moved rotationally about one of the machine axes (Rn) and/or such that they can be moved axially translationally along said machine axis, further having a robot controller for performing closed-loop and/or open-loop control of the movements of the jointed arm (20) in the n machine axes (R1 to Rn), having a tool (9) for the assembly task, having a first functional member (91) and a second functional member (92), wherein the first functional member (91) is coupled to the first jointed arm portion (26), with the result that it also carries out movements which can be carried out by the first jointed arm portion (26), the second functional member (92) is coupled to the second jointed arm portion (27), with the result that it also carries out movements which can be carried out by the second jointed arm portion (27) in the robot joint (RG) relative to the first jointed arm portion (26) and the first functional member (91), in order to execute the assembly task, and the robot controller is configured to perform open-loop or closed-loop control, according to position and/or speed, of the movements which can be carried out by the second jointed arm portion (27) in the robot joint (RG) relative to the first jointed arm portion (26), and to activate a movement and/or function of the second functional member (92) in a controlled manner as a result.