Robot Assembly of Movable Shaft Components

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Solution Overview

Problem

Existing methods for robots to fit male components with movable shaft parts into female components with holes are inefficient, as the shaft parts often fail to be properly inserted due to their movable nature.

Innovation Solution

A method where a robot grasps the male component's base part, positions it vertically above the female component, and moves it downward while horizontally reciprocating the base part to guide the shaft parts into the holes, using a combination of visual detection and mechanical manipulation to ensure proper alignment and insertion.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the shaft parts are movable in the axial direction with respect to the base part, then the shaft parts can be retained flexibly on the base part, but it becomes difficult to fit the shaft parts into the corresponding holes

Engineering Contradiction:

Improveflexibility of shaft part retentionVSAvoiddifficulty to fit shaft parts into holes

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The robot performs preliminary positioning actions by horizontally reciprocating the base part before final insertion. This preliminary horizontal movement allows the shaft parts to be guided into the holes, resolving the fitting difficulty while maintaining the movable retention capability

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The invention utilizes the dynamic movable nature of the shaft parts combined with controlled horizontal reciprocation of the base part. The shaft parts can move horizontally during the reciprocation process to enter the holes, then are retained in the hooked position, achieving both flexibility and ease of fitting

Inventive Principle:

Principle #15Dynamics

2Extent of automation

If the robot moves the base part vertically downward to insert shaft parts, then the fitting process can be automated, but misaligned shaft parts fail to be properly inserted

Engineering Contradiction:

Improveautomation of fitting processVSAvoidalignment accuracy of shaft parts

Core Design Contradiction:

Extent of automationVSManufacturing precision

Solution Approach 1:

The invention adds a horizontal dimension of movement to the vertical insertion process. By horizontally reciprocating the base part during vertical downward movement, misaligned shaft parts can be guided into the holes, maintaining automation while improving alignment accuracy

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The robot controller monitors the insertion process and adjusts the horizontal reciprocation motion based on whether shaft parts are properly inserted. This feedback mechanism ensures that even misaligned parts are successfully fitted while maintaining automated operation

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS10343282B2Method for causing robot to fit male component in female component

Publication Date: 2019.07.09 FANUC LTD

AI summary

A method able to easily fit a movable shaft part in the corresponding hole. The method includes grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended from the base part, moving the base part downward by the robot, and, if a tip end (106c) of at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot, moving each of portions of the base part, from which the shaft parts are suspended, in a horizontal direction.