Robot Servo Float Engagement Confirmation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Manual operation of passing hooks through hooking holes on internal combustion engines is labor-intensive and prone to errors, and existing automated solutions require complex setups with cameras and computers to confirm engagement, increasing facility costs.
Innovation Solution
A robot-based engagement confirmation method using servo float control to determine if the first engagement member on a workpiece is engaged with the second engagement member on a retaining body by switching to servo float control and assessing the relative rising amount within a predetermined threshold, eliminating the need for image processing means.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a camera and computer are arranged to determine whether the hook has passed through the hooking hole, then the engagement confirmation can be achieved, but the facility configuration becomes complex and facility costs rise steeply
Solution Approach 1:
The patent replaces the optical detection system (camera and computer) with a mechanical detection method. The robot attempts to raise the second engagement member (hook) after engagement, and the control unit detects whether engagement occurred by monitoring if the raising operation was blocked by the first engagement member (workpiece). This mechanical interaction substitutes for the complex optical measurement system.
Solution Approach 2:
The system uses the robot's own raising operation to perform both the engagement action and the confirmation detection. The robot's attempt to raise the hook serves dual purposes: it secures the workpiece through engagement and simultaneously provides the detection signal (blocking of raising operation) that confirms successful engagement, eliminating the need for separate detection facilities.
2Reliability
If a camera and computer are arranged to determine whether the hook has passed through the hooking hole, then the engagement confirmation can be achieved, but facility costs rise steeply
Solution Approach 1:
The patent replaces the optical detection system (camera and computer) with a mechanical detection method. The robot attempts to raise the second engagement member (hook) after engagement, and the control unit detects whether engagement occurred by monitoring if the raising operation was blocked by the first engagement member (workpiece). This mechanical interaction substitutes for the complex optical measurement system.
Solution Approach 2:
The system uses the robot's own raising operation to perform both the engagement action and the confirmation detection. The robot's attempt to raise the hook serves dual purposes: it secures the workpiece through engagement and simultaneously provides the detection signal (blocking of raising operation) that confirms successful engagement, eliminating the need for separate detection facilities.
3Extent of automation
If the robot operates in accordance with position control to bring the first engagement member closer to the second engagement member, then the engagement operation can be performed, but the configuration becomes more complex
Solution Approach 1:
The patent employs two distinct control modes that can be switched: position control for the approach phase and servo float control for the engagement and detection phase. Position control precisely positions the hook near the workpiece, then the system switches to servo float control which allows the hook to engage with the workpiece under its own weight while the motor maintains a floating state. This dynamic switching of control modes enables automated engagement without requiring complex positioning algorithms for the detection phase.
Solution Approach 2:
The engagement process is divided into distinct periodic phases: first, the position control phase brings the hook close to the workpiece, then the system switches to servo float control phase where the hook engages and the detection is performed. This periodic switching between control modes simplifies each individual phase while maintaining overall automation.
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
Simplifies facility configuration and reduces costs by allowing accurate engagement confirmation without additional hardware, ensuring efficient operation and preventing excessive load on the robot.
Implementation Method 1
switching the robot to a servo float control, and issuing a command to raise the second engagement member relatively with respect to the first engagement member
Data Source
AI summary
A robot performs an appropriate operation in accordance with a position control, whereby an operation is carried out to pass a hook as a second engagement member through a hooking hole as a first engagement member. Thereafter, the robot is switched to a servo float control, and receives a command to raise the hook relatively with respect to the hooking hole. An amount of rising of the hook is compared with a maximum allowable amount of rising (threshold value) of the hook.