Collaborative Robot Collision Detection for Additional Shaft Motion
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Solution Overview
Problem
Conventional collaborative robots with additional shafts lack a collision detection function, which can compromise safety and hinder productivity and economic viability when separate devices are installed for additional shafts.
Innovation Solution
A collaborative robot system that includes a main body robot with articulated arms, an additional shaft, and a processor unit that uses the main body's collision detection function to indirectly detect collisions on the additional shaft by setting different boundary values based on the status of both the main body and additional shaft, generating control commands accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a separate collision detection device is installed on the additional shaft robot, then collision detection capability is improved, but device complexity and cost increase significantly
Solution Approach 1:
The main body robot's collision detection device is made multi-functional by enabling it to detect collisions not only on the main body but also on the additional shaft robot. The processor unit achieves this by calculating external forces on the additional shaft robot using dynamic models and torque data from the main body robot, allowing one device to perform multiple detection functions
Solution Approach 2:
The processor unit acts as an intermediary that bridges the main body robot and the additional shaft robot. It receives torque data from the main body robot's collision detection device and uses dynamic modeling to infer collision states on the additional shaft robot, enabling indirect detection without direct sensors on the additional shaft
2Reliability
If a separate collision detection device is installed on the additional shaft robot, then collision detection capability is improved, but productivity decreases due to installation and configuration time
Solution Approach 1:
The collision detection system is designed with multi-functionality, allowing the main body robot's existing device to serve dual purposes: detecting collisions on both the main body and the additional shaft robot. This eliminates the need for separate device installation and configuration, thereby maintaining high productivity
3Measurement precision
If collision detection boundary values are customized for different modes, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The collision detection system implements dynamic boundary values that automatically adjust according to the operational mode. The processor unit determines the current mode (first mode or second mode) and selects appropriate boundary values from pre-stored sets, enabling adaptive precision without requiring complex real-time calculations or manual configuration
Solution Approach 2:
Different collision detection boundary values for different modes are predetermined and stored in the processor unit before operation. This preliminary preparation allows the system to quickly switch between detection thresholds based on the current mode without complex real-time adjustments, balancing precision with control simplicity
Data Source
AI summary
The present invention provides a collaborative robot comprising: a main body robot; an additional shaft robot that moves the main body robot along the additional shaft; and a processor unit that transmits and receives signals to and from the main body robot and the additional shaft robot, wherein the processor unit comprises: a receiving unit that obtains a data signal from the main body robot and the additional shaft robot; an external force calculation unit that calculates an external force value using the obtained data signal as a variable; a collision determination unit that compares the calculated external force value with a predetermined collision detection boundary value so as to determine whether a collision has occurred; and a control unit that generates different control commands for the main body robot and the auxiliary shaft robot depending on whether a collision has occurred.