Dual-Arm Workcell Layout With Entry Sensing to Prevent Arm Interference
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Solution Overview
Problem
Existing dual-arm work devices with six degrees of freedom face challenges in performing fine, high-speed tasks due to wide movement ranges, leading to potential collisions and increased operational complexity, which limits their ability to work efficiently and safely alongside humans.
Innovation Solution
A dual-arm work device with geometrically symmetrical configurations, featuring a linear motion unit with three degrees of freedom and a rotary unit with three degrees of freedom, equipped with a contact preventer that includes an entry allowing portion and detection sensor to manage workspace and prevent collisions, allowing for precise positioning and posture control of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a dual-arm work device uses six degrees of freedom with wide movement range, then it can perform various work tasks, but the operation amount increases and fine work cannot be performed at high speed
Solution Approach 1:
The work device body is segmented into a linear motion unit with three degrees of freedom for position control and a rotary unit with three degrees of freedom for posture control. This segmentation allows independent optimization of each unit's movement range, enabling high-speed fine work while maintaining versatile task capability
Solution Approach 2:
The device uses a hybrid motion system combining linear actuators for positioning and rotational mechanisms for orientation. This dynamic configuration allows the system to adapt movement characteristics to task requirements, achieving both wide work envelope and precise high-speed positioning
2Adaptability or versatility
If the movement range of each arm is wide, then the work device can access more areas, but the region where arms interfere with each other increases
Solution Approach 1:
By separating position control (linear unit) from posture control (rotary unit), the patent reduces the coupling between arms. Each arm's linear motion unit operates independently in its own coordinate system, minimizing interference regions while maintaining wide workspace coverage
3Reliability
If contact prevention function is enhanced, then safety is improved, but the entire device becomes expensive
Solution Approach 1:
A contact preventer is introduced as an intermediary component between the work device and external objects. This dedicated safety mechanism provides reliable contact prevention through entry detection sensors and controlled access points, protecting the expensive work device without requiring expensive modifications to the entire system
4Reliability
If the entry detection sensor detects object entry, then contact prevention is improved, but the working region becomes more restricted
Solution Approach 1:
The contact preventer implements local quality control by providing specific entry allowing portions with detection sensors at strategic locations. Rather than restricting the entire working region, only specific access points are monitored and controlled, maintaining overall workspace accessibility while ensuring safety at critical interfaces
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A work device (1) includes a work device body (1A) and a contact preventer (130). The work device body (1A) includes a linear motion unit (3) having three degrees of freedom and a rotary unit (4) having three degrees of freedom. An end effector (5) is mounted on an output portion of the rotary unit (4). The contact preventer (130) separates a working region (R1) in which the work device body (1A) is installed, from a non-working region (R2) outside the working region (R1). The contact preventer (130) includes: an entry allowing portion (136) allowing an object to enter the working region (R1) therethrough; and an entry allowing portion entry detection sensor (137) configured to detect entry of an object into the working region (R1) through the entry allowing portion (136).