Dual-Chuck Transport Robot Torque Monitoring for Grip Failure
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Solution Overview
Problem
Conventional workpiece transport robots face challenges in reliably gripping workpieces, leading to potential dropping issues due to incomplete clamping, especially when foreign matter is present, and there is a need for a simple method to assess gripping failures.
Innovation Solution
A workpiece transport robot equipped with a robot hand featuring a pair of chucks symmetrically positioned around a rotation shaft, utilizing a servomotor-driven rotating mechanism to measure torque information and compare it with workpiece gripping information from a program to determine gripping states, enabling effective clamping checks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If interference torque monitoring is used to detect gripping abnormalities, then workpiece clamping status can be monitored, but the detection method becomes complex and requires additional sensors and control systems
Solution Approach 1:
The robot hand's own motor current is utilized for gripping state detection. The control device monitors the current consumed by the motor during gripping operations, and abnormalities in gripping state are detected by comparing this current with predetermined thresholds. This approach uses the existing motor's electrical characteristics for detection purposes, eliminating the need for separate sensors or complex monitoring systems.
2Measurement precision
If workpiece orientation detection is implemented, then tilted clamping can be detected, but the system cannot assess complete gripping failure where workpiece may drop
Solution Approach 1:
The detection approach shifts from monitoring workpiece orientation parameters to monitoring motor current parameters. By observing changes in current consumption during gripping operations and comparing with predetermined thresholds, the system can detect both partial gripping abnormalities (tilted clamping) and complete gripping failures (workpiece drop), providing comprehensive assessment of all gripping failure modes.
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
This configuration allows for efficient detection of workpiece gripping failures by comparing torque information with threshold values, ensuring secure clamping and preventing workpiece drops during transport.
Implementation Method 1
measurement state information of the robot hand based on torque information obtained by measuring and driving with the servomotor
Data Source
AI summary
A workpiece transport robot configured to determine whether a workpiece gripping failure has occurred, the workpiece transport robot including a transport robot main body having a driving mechanism configured to move a held workpiece; a robot hand having a first chuck and a second chuck configured to grip workpieces on both front and back faces of the robot hand; a robot hand rotating mechanism configured to axially support the robot hand and position the robot hand in a rotational direction with a servomotor, the robot hand supported with the transport robot main body via a rotation shaft to which first chuck and second chuck are symmetrically positioned, and a control device configured to compare measurement state information of the robot hand, of which information being based on torque information obtained by measuring and driving the servomotor; with workpiece gripping information obtained from a work program of the robot hand.