{"id":112710,"date":"2023-06-06T10:44:03","date_gmt":"2023-06-06T02:44:03","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/smart-insert-%e6%8f%92%e4%bb%b6%e6%87%89%e7%94%a8\/"},"modified":"2024-05-27T13:55:44","modified_gmt":"2024-05-27T05:55:44","slug":"using-smart-insert-to-insert-objects","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hans\/docs\/using-smart-insert-to-insert-objects\/","title":{"rendered":"Using Smart Insert to Insert Objects"},"content":{"rendered":"<p>Examples are valid for :<\/p>\n<p>TMflow Software version : 1.88 or above.<\/p>\n<p>TM Robot Hardware version : All versions.<\/p>\n<p>Other specific requirements : None<\/p>\n<p>Note that older or latest software versions may have different result.<\/p>\n<hr \/>\n<h2>Smart Insert<\/h2>\n<p>The<b> Smart Insert\u00a0<\/b>node is designed in such way that makes it easy and quick to set up characteristically difficult object assembly\/insertion jobs, and equips the robot to execute such jobs. The insertion act performed through the node takes place in three sequential steps: <strong>Approaching<\/strong>, <strong>Searching<\/strong>, and <strong>Inserting<\/strong>. These three steps are described as follows. (Note that Smart Insert must be used with the force sensor, a TM Plug&amp;Play product.)<\/p>\n<ul>\n<li>Approaching : Bring the object to be inserted close to where assembly takes place, until the force sensors detects a 5N resistance.<\/li>\n<li>Searching: Search the hole positions of the mating parts in a spiral or linear way. Normally, spiral searching is performed for DRAM insertions, and linear searching for an insertion hole.<\/li>\n<li>Inserting: Move in the insertion direction. If contact is made in other directions, the movement will be reversed.<\/li>\n<\/ul>\n<p>To insert an object, use a Smart Insert Node with a Force Node. Make sure that the approach contact force is 5N for Smart Insert. Smart Insert can only be used if the object to be inserted withstands a forward force of more than 5N. If not, you can use a Force Node to choose the insertion angle and approach point and avoid damaging the object.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4.png\"><img loading=\"lazy\" class=\"alignleft wp-image-94015\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4.png\" alt=\"\" width=\"680\" height=\"379\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4.png 973w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4-300x167.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4-768x428.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-4-360x201.png 360w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-3.png\"><img loading=\"lazy\" class=\"wp-image-94021 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-3.png\" alt=\"\" width=\"427\" height=\"158\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-3.png 405w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-3-300x111.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-3-360x133.png 360w\" sizes=\"(max-width: 427px) 100vw, 427px\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72473-3.png\"><img loading=\"lazy\" class=\"size-full wp-image-94027 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72473-3.png\" alt=\"\" width=\"207\" height=\"168\" \/><\/a><\/p>\n<h2>Force Node<\/h2>\n<ul>\n<li>As far as DRAM insertion is concerned, you can use a gripper to deliver more stable insertion force, or insert DRAM at an angle along the edge.<\/li>\n<li>Downforce is very different between early and new robots. The insertion force of the early ones is often weakened after several tests.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72475-2.png\"><img loading=\"lazy\" class=\"alignleft size-full wp-image-94033\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72475-2.png\" alt=\"\" width=\"344\" height=\"459\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72475-2.png 344w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72475-2-225x300.png 225w\" sizes=\"(max-width: 344px) 100vw, 344px\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1.png\"><img loading=\"lazy\" class=\"alignleft size-full wp-image-94039\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1.png\" alt=\"\" width=\"832\" height=\"463\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1.png 832w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1-300x167.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1-768x427.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72476-1-360x200.png 360w\" sizes=\"(max-width: 832px) 100vw, 832px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for : TMflow Software version : 1.88 [&hellip;]<\/p>\n","protected":false},"author":7223,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4179],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ 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