Collaborative Robot Linear Transfer with Force-Guided Programming
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Solution Overview
Problem
Conventional linear transfer systems for collaborative robots lack intuitive programming capabilities and sensitive collision sensing along the seventh axis, limiting their functionality and safety in collaborative workspaces.
Innovation Solution
A linear transfer system that includes a linear bearing, a carriage, a motor, and a motor control circuit with load cells and sensors, allowing intuitive programming of movements and adjustable collision sensing by comparing applied forces to thresholds and monitoring motor position errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional linear transfer systems use motor current monitoring for collision detection, then collision sensing is available, but the sensitivity cannot be easily adjusted and optimized for collaborative operation
Solution Approach 1:
The system introduces adjustable threshold parameters for collision detection. The controller can be configured with specific force thresholds that determine when a collision is detected, allowing optimization of sensitivity for different collaborative operation scenarios. This enables the system to adapt the collision sensing parameters to match specific application requirements.
Solution Approach 2:
The system implements feedback mechanisms where the load cell continuously monitors applied forces and provides real-time data to the controller. The controller compares the measured force against configurable thresholds and provides feedback control signals to the motor, enabling dynamic adjustment of collision detection sensitivity based on operational conditions.
2Ease of operation
If conventional linear transfer systems lack intuitive programming capabilities, then programming is possible through traditional methods, but the operator cannot intuitively program movements by applying forces like with collaborative robot joints
Solution Approach 1:
The load cell and controller system serves dual functions: it enables intuitive force-based programming during operation and provides collision detection during automated execution. The same hardware infrastructure supports both programming and safety functions, eliminating the need for separate complex programming mechanisms.
Solution Approach 2:
The system allows operators to program movements by directly applying physical forces to the carriage, with the load cell automatically sensing these forces and the controller recording the movement parameters. This self-service approach eliminates the need for complex programming interfaces or tools, making the system intuitive to program while maintaining operational safety.
3Adaptability or versatility
If a linear transfer system adds load cells and control circuits for intuitive programming and collision sensing, then functionality and safety are improved, but device complexity increases
Solution Approach 1:
The system merges the programming sensing mechanism and collision detection mechanism into a single integrated load cell and controller system. The load cell serves both to detect operator-applied forces during programming and to detect abnormal forces during automated operation, while the controller handles both programming data acquisition and collision detection logic, reducing overall system complexity.
Solution Approach 2:
The motor control circuit is designed to perform multiple functions: it controls motor operation during automated execution, processes load cell signals during programming mode, and executes collision detection and response. This multi-functionality eliminates the need for separate dedicated circuits for each function, reducing overall system complexity while maintaining full functionality.
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
Enables intuitive programming of movements and enhanced collision detection with adjustable sensitivity, improving the operational safety and efficiency of collaborative robots by using the same operative components for both programming and collision sensing.
Implementation Method 1
a load cell supported on the carriage proximate a first axial end of the carriage. The motor control circuit is configured to receive an input signal indicative of a force applied to the load cell
Implementation Method 2
A motor is provided and configured to generate a motive force causing movement of the carriage along the linear axis
Implementation Method 3
A linear bearing is provided and extends along a linear axis. A carriage is supported on the linear bearing for movement along the linear axis
Data Source
AI summary
A linear transfer system for a collaborative robot includes a linear bearing extending along a linear axis. A carriage on the linear bearing moves along the linear axis and supports a collaborative robot. One or more load cells are supported on either axial end of the carriage. A motor causes movement of the carriage along the linear axis under the control of a motor control circuit. The circuit receives input signals indicative of forces applied to the load cells. During a programming mode for the system, the circuit may generate control signals for the motor causing movement of the carriage along the linear axis corresponding to the forces applied to the load cells. During an operating mode of the system, the circuit may detect collisions by comparing the forces to a threshold and generating control signals to halt movement of the carriage if a predetermined condition is met.