Collaborative Robot Force-Pattern Restart to Prevent Accidental Commands
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Solution Overview
Problem
Human-collaborative robots are prone to accidental operation when a simple action pattern is misinterpreted as a command, potentially leading to unsafe restarts and reduced productivity due to the need for precise sensor configurations and costly placement of restart buttons.
Innovation Solution
A human-collaborative robot equipped with a sensor section to specify the portion of the robot receiving external force, a judging section to verify the pattern of force application, and a commanding section to execute predetermined motions only when the force is applied to a specified portion in a predetermined pattern, using sensors like six-axes force sensors, contact sensors, or torque sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a simple action pattern is used to restart the robot, then productivity is improved, but the robot may be accidentally operated when the pattern is misinterpreted
Solution Approach 1:
The robot body is divided into multiple detection zones with different sensitivity levels. The force sensor is configured to detect external forces applied to different portions of the robot arm, allowing the system to distinguish between intentional restart commands (applied to specific safe zones) and accidental contacts (applied to other zones). This spatial segmentation enables simple restart patterns while preventing accidental operations.
2Loss of time
If the restart button is positioned near the robot, then restart speed is improved, but the cost increases due to separate button arrangement
Solution Approach 1:
The restart function is merged with the force detection capability of the robot arm. Instead of adding a separate restart button, the system uses the existing force sensor to detect intentional external forces as restart commands. This combines the sensing and control functions, eliminating the need for separate restart hardware while reducing restart time.
3Area of stationary object
If contact sensors are configured to detect contact with the entirety of the robot arm, then detection coverage is improved, but the robot may be restarted when force is applied to non-specified portions
Solution Approach 1:
Different portions of the robot arm are assigned different functional qualities. Specific portions are designated as valid restart zones where applied force will trigger restart, while other portions are designated as invalid zones where force application will not trigger restart. This local differentiation allows comprehensive detection coverage while ensuring command accuracy by only responding to forces applied to authorized zones.
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
Significantly reduces the likelihood of accidental robot operation by ensuring that only intended actions, such as knocking specific parts of the robot, are recognized as commands, enhancing safety and productivity by allowing simple and precise restarts without costly button placement.
Implementation Method 1
a sensor section configured to, when an external force is applied to the robot, specify a portion of the robot to which the external force is applied
Implementation Method 2
a judging section configured to judge as to whether or not the external force is applied to the robot based on a predetermined pattern
Implementation Method 3
a commanding section configured to, when the external force is applied to the robot based on the predetermined pattern and when the portion to which the external force is applied corresponds to the specified portion, command the robot so that the robot performs a motion which is previously associated with the pattern
Data Source
AI summary
A human-collaborative robot, by which the robot is unlikely to be accidentally operated despite the intention of the human, even if a relatively simple action pattern is determined as a command to the robot. When an external force by a human is applied to the robot, the force is detected by a force sensor. The robot is configured to be stopped when the detected external force exceeds a predetermined threshold. In order to restart the stopped motion of the robot, the human purposely applies the external force to the robot. When a judging section judges that the external force is applied to a specified portion the robot based on a predetermined action pattern, a commanding section commands the robot so that the robot performs a motion which is previously associated with the pattern.