Flexible Protective Device for Collaborative Robot Effector
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Solution Overview
Problem
Collisions between collaborative robots and operators remain a risk due to the limitations of existing protective structures, which either restrict the robot's movement or fail to absorb collision energy effectively, leading to potential injuries from sharp edges or rigid protective devices.
Innovation Solution
A flexible protection device with a deployable and retractable frame, actuated by an elastic armature and fluid-filled bladders, that surrounds the effector to absorb collision energy and reduce the risk of injury by distributing force and bending to mitigate impact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a rigid protective structure is used to protect the effector, then the protection coverage is improved, but the risk of injury from collision increases due to sharp edges and inability to absorb energy
Solution Approach 1:
The patent employs a flexible protective device comprising a frame with flexible elements that can bend and deform during collision. This flexible structure replaces rigid protective enclosures, allowing the protective device to absorb impact energy through elastic deformation while maintaining protection coverage. The flexibility prevents sharp edges and reduces the transmission of collision forces to the operator.
Solution Approach 2:
The protective device is designed with inherent energy absorption capabilities through its flexible frame structure. When collision occurs, the flexible elements deform elastically, absorbing kinetic energy before it can reach the operator. This beforehand cushioning mechanism is built into the protective device itself, requiring no additional active systems.
2Object-affected harmful factors
If a fixed protective enclosure is used around the effector, then operator protection is improved, but the robot's movement freedom and task versatility are reduced
Solution Approach 1:
The protective device transitions from a static fixed enclosure to a dynamic structure that can change its configuration. The flexible frame can be deployed when protection is needed and retracted when movement freedom is required for tasks. This dynamic capability allows the system to adapt between protective mode and operational mode, maintaining both operator safety and task versatility.
Solution Approach 2:
The protective device is divided into modular flexible elements that can be independently deployed or retracted. This segmentation allows the protective function to be activated only when necessary, while the effector remains free for task execution when the protective elements are retracted, thus maintaining movement freedom and adaptability.
3Object-affected harmful factors
If a deployable protective structure is used, then collision protection is improved, but the device complexity increases due to additional actuators and mechanisms
Solution Approach 1:
The flexible frame structure is designed to be self-actuating through its inherent elastic properties. When collision forces are applied, the frame automatically deforms to absorb energy and returns to its original shape after the collision subsides. This self-service mechanism eliminates the need for complex active actuators and control systems, reducing device complexity while maintaining effective collision protection.
Solution Approach 2:
The patent converts the harmful collision forces into beneficial elastic deformation energy. The collision forces that would otherwise cause injury are transformed into temporary elastic strain energy in the flexible frame, which is then released as the frame returns to its original shape. This converts the harmful mechanical energy of collision into a beneficial protective mechanism, eliminating the need for additional active energy input or complex control systems.
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
The flexible protection device effectively reduces the severity of collisions by absorbing kinetic energy and distributing force, providing a safer working environment by ensuring the effector does not suddenly transmit its energy to the operator, thus minimizing the risk of injury.
Implementation Method 1
The protective device passes, under the effect of bending of the frame, from a retracted state to a deployed state around the effector or, from a deployed state around the effector to a retracted state
Data Source
Figure 1~2
Figure 3a~4b
Figure 5a~6b
AI summary
The invention relates to an effector device (10) that is able to be moved or oriented by an automated system such as a manipulator arm (2), the effector device comprising a base (22), an effector (20) extending from the base (22) along a longitudinal axis (6), and a protective device (5) that passes, by means of an actuator (7), from a retracted state to an extended state around the effector and vice versa. According to the invention, the protective device (5) comprises a flexible reinforcement (50), the protective device passing, under the effect of the bending of the reinforcement, from a retracted state to an extended state around the effector (20) or vice versa, and the actuator (7) cooperates with the reinforcement (50) such that, when the actuator passes from a first state to a second, the reinforcement is bent more, and when the actuator passes from the second state to the first, the reinforcement is bent less.