Adaptive Robot Collision Protection for High-Acceleration Handling
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Solution Overview
Problem
Current collision protection systems in robotics are limited by inhomogeneous force thresholds, inability to adapt to dynamic movements, and high collision forces during rapid accelerations, leading to potential damage to robots, end effectors, and their environment.
Innovation Solution
A dynamically controlled handling appliance with a mechanical system featuring a homogeneous triggering threshold, using an actuator device to enable relative movement upon collision, and adaptive closed-loop control to compensate for inertial and weight forces, allowing evasive movements and reducing collision forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mechanical collision protection system with a fixed force threshold is used, then the system structure is simple, but the force threshold is inhomogeneous and cannot adapt to dynamic movements
Solution Approach 1:
The patent applies dynamics by transitioning from a static mechanical collision protection system to a dynamic system that adapts to movement conditions. The actuator device dynamically adjusts the force threshold based on real-time parameters such as acceleration, velocity, and position, allowing the system to respond appropriately to different operational states while maintaining a relatively simple overall structure.
2Measurement precision
If the force threshold is set low to detect collisions early, then collision detection sensitivity is improved, but false triggering occurs during rapid movements and high accelerations
Solution Approach 1:
The patent implements feedback by continuously monitoring movement parameters (acceleration, velocity, position) and using this information to dynamically adjust the force threshold. This feedback mechanism allows the system to maintain high collision detection sensitivity while avoiding false triggering during rapid movements, as the threshold adapts to the current operational context rather than remaining fixed.
Solution Approach 2:
The system changes the force threshold parameter dynamically based on movement conditions. During rapid accelerations or high-velocity operations, the threshold is adjusted upward to prevent false triggering, while during normal operations it remains sensitive for early collision detection. This parameter adaptation resolves the contradiction between detection sensitivity and reliability.
3Reliability
If the actuator force is increased to prevent false triggering during high accelerations, then reliability is improved, but collision forces become excessively high causing damage
Solution Approach 1:
The actuator force is made dynamic rather than static. During high acceleration phases, the actuator force is temporarily increased to prevent false triggering, but during normal operations or when collisions are detected, the force is reduced or released to minimize damage. This dynamic adjustment allows the system to maintain reliability during challenging operations while protecting against excessive collision forces.
4Adaptability or versatility
If a pneumatic actuator with closed-loop control is used for adaptive force threshold control, then adaptability is improved, but control difficulty increases and automation is reduced
Solution Approach 1:
The patent replaces complex pneumatic actuation systems with a more controllable actuator device that can be directly integrated with the robot's control system. This substitution maintains adaptive force threshold control capability while reducing control complexity and improving automation, as the new actuator can be controlled through standard electronic interfaces rather than requiring complex pneumatic control infrastructure.
Data Source
AI summary
A handling appliance, in particular a robot, includes at least one handling device that is movable in at least one direction of movement, a collision protection device configured for limiting contact forces due to collisions of the handling device with objects, and an acquisition device. The collision protection device includes a kinematic system that mechanically enables a relative movement of the handling device relative to the carrier of the handling device and that can be inhibited by at least one actuator device. The acquisition device determines forces acting on the actuator device and/or the handling device and on components of the collision protection device decoupled by the actuator device, and the collision protection device accounts for the forces and, via the actuator device, in the absence of a collision prevents, and in the case of a collision triggers and/or enables, relative movement of the handling device relative to the carrier.