Soft-Sleeve Robot Tool for Scratch-Free Rear Door Handling
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Solution Overview
Problem
Existing methods for opening and closing rear vehicle doors on assembly lines require time-consuming tool attachment and detachment, lead to paint accumulation and tool degradation, increase manufacturing costs, and risk damage to doors and equipment due to misalignment and scratching.
Innovation Solution
A tool with a cylindrical sleeve made of soft material is attached to a multi-articulated robot arm, allowing gentle contact and eliminating the need for separate tools, reducing scratching and damage while facilitating door manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a second tool is screwed onto the rear door for door operation, then the door can be opened and closed, but the tool requires time-consuming attachment and detachment, and accumulates paint leading to periodic cleaning
Solution Approach 1:
The invention extracts the harmful function of the second tool (which required screwing onto the door) by replacing it with a robotic system that uses vision guidance to directly manipulate the door handle or latch mechanism, eliminating the need for physical tool attachment and detachment
Solution Approach 2:
The robotic system performs door operations autonomously using integrated sensors and actuators, with the robot itself serving as both the operator and the tool, eliminating the need for separate attachable tools that require maintenance
2Ease of operation
If a second tool remains screwed onto the rear door during painting, then the door operation is ready, but the tool accumulates paint and requires periodic cleaning
Solution Approach 1:
The invention removes the second tool entirely from the process, replacing it with a robotic system that approaches the door, identifies the handle or latch location using vision systems, and performs operations without any physical contact tools that would accumulate paint
Solution Approach 2:
The invention introduces a vision system and force feedback mechanism as intermediaries between the robot and the door, allowing the robot to locate and manipulate the door handle without direct physical tool contact, thus preventing paint accumulation
3Ease of operation
If a second tool is used for door operation, then the door can be manipulated, but thermal cycles accelerate tool aging requiring repair or replacement
Solution Approach 1:
The invention extracts the physical second tool from the system and replaces it with a robotic manipulator that uses vision guidance and force feedback to operate the door, eliminating the tool that was subject to thermal degradation
Solution Approach 2:
The invention changes the operational parameters from mechanical tool contact to robotic actuation with controlled force application, using sensors to detect door position and handle characteristics, thereby eliminating thermal cycle exposure for tools
4Device complexity
If the second tool frame is misaligned, then coupling to the first tool is prevented, but the rear door remains closed and subsequent operations cannot be performed
Solution Approach 1:
The invention implements a vision system that provides real-time feedback on door handle position and orientation, allowing the robotic system to automatically adjust its approach and manipulation forces, eliminating misalignment issues that would prevent operation completion
Solution Approach 2:
The invention uses a dynamic robotic system with multiple degrees of freedom that can adapt its motion trajectory and manipulation forces in real-time based on sensor feedback, replacing the static, rigid tool coupling mechanism that was prone to misalignment
5Force
If a hard tool contacts the rear door surface, then door operation is effective, but scratches or damage occur on the door surface
Solution Approach 1:
The invention changes the material parameter of the contacting element from hard tool material to the robot's compliant actuators and soft grippers, which can apply sufficient force for door operation while conforming to the door surface geometry to prevent scratching
Solution Approach 2:
The invention applies local compliance at the contact point between the robot and the door handle, using force feedback control to adjust the local interaction forces, ensuring effective door operation without transmitting excessive forces that would cause surface damage
Data Source
Figure 1~2
Figure 3~5
AI summary
The invention relates to a tool (2) intended to equip one end of a multi-articulated arm of a robot configured to intervene on a motor vehicle having a rear door mounted rotating and controlling access to a rear trunk, the tool (2) having a cylindrical sleeve (21) configured to be able to be inserted into an existing gap between a rear door and a rear panel of the motor vehicle, the cylindrical sleeve (21) having an outer peripheral surface formed of a soft material so as not to scratch or damage the rear door of the motor vehicle.