Collaborative Delta Robot Speed Control for Safe Human Proximity
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Solution Overview
Problem
Existing Delta robots are unsafe for collaboration with users due to high-speed movements, necessitating separate enclosures that occupy space and hinder real collaboration.
Innovation Solution
A collaborative Delta robot with safety detection means and direct drive motors that reduce speed or stop upon detecting objects or beings, ensuring safety through zone detection and contact sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If Delta robots operate at high speed to maximize handling performance, then productivity is improved, but safety deteriorates due to danger to users in the vicinity
Solution Approach 1:
The robot implements dynamic speed adjustment based on real-time detection of users or objects in the safety zone. The motor control unit reduces speed when objects are detected in the first safety zone and further reduces speed when detected in the second safety zone, allowing the system to adapt its velocity dynamically rather than operating at constant high speed
Solution Approach 2:
The system employs feedback mechanisms through safety sensors that continuously monitor the environment and provide real-time information to the motor control unit. This feedback loop enables the robot to detect users or objects and automatically adjust its speed or stop, creating a closed-loop control system that responds to environmental conditions
2Ease of operation
If users are allowed to work close to the robot for collaboration, then ease of operation is improved, but safety deteriorates due to high-speed movements
Solution Approach 1:
The robot implements dynamic speed adjustment based on real-time detection of users or objects in the safety zone. The motor control unit reduces speed when objects are detected in the first safety zone and further reduces speed when detected in the second safety zone, allowing the system to adapt its velocity dynamically rather than operating at constant high speed
Solution Approach 2:
The safety sensors and motor control unit act as intermediary systems between the robot and users. These intermediaries detect the presence of users and mediate the interaction by controlling robot speed and position, enabling safe collaboration without direct physical barriers
3Object-affected harmful factors
If enclosures are placed around robots to ensure safety, then safety is improved, but device complexity and space occupation increase
Solution Approach 1:
The patent replaces mechanical enclosures with an electronic safety control system. Instead of using physical barriers to protect users, the system uses sensors and motor control to detect and respond to users' presence, substituting mechanical protection with intelligent control mechanisms
Solution Approach 2:
The invention extracts the safety function from the mechanical enclosure structure and implements it through electronic detection and control systems. The safety mechanism is separated from the physical structure, allowing the robot to operate without enclosures while maintaining safety through sensor-based control
Data Source
AI summary
The present invention relates to a collaborative Delta robot (1) comprising a stationary base (2) and a mobile basket (3) connected to the base (2) by means of three kinematic chains (4, 5, 6), where each kinematic chain is driven by its own motor (7), characterized in that the robot comprises first means (8) for detecting the presence of an object or a living being in a first safety zone around the robot, in that the robot comprises means for detecting contact between one of the kinematic chains (4, 5, 6) or the basket (3) with an object or living being, and in that the robot comprises a motor control unit configured to reduce the speed of the motors from a first speed to a second speed when an object or living being is detected in the first safety zone and to stop the motors when contact between a kinematic chain (4, 5, 6) or the basket (3) with an object or living being is detected.