Horizontal Articulated Robot Direct Teaching via Base Force Detection
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Solution Overview
Problem
Direct teaching in horizontal articulated robots is challenging due to the inability of force sensors to detect operation force when the teacher's hand position is obscured by the arm's cover, making intuitive teaching difficult without a teaching pendant.
Innovation Solution
A horizontal articulated robot design with a force detection unit in the base and operation units on the second arm, allowing direct teaching by controlling the third arm based on detected forces, with an operation unit that includes a third arm operation part, teaching point registration, and end effector operation, positioned to facilitate intuitive operation without a pendant.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct teaching is performed by having the teacher hold and operate the distal end of the force sensor in the robot's hand, then force detection is possible, but the teaching apparatus becomes complex and requires additional equipment like a teaching pendant
Solution Approach 1:
The force sensor is extracted from the distal end of the robot arm and relocated to the base. This allows the teacher to apply force directly to the robot arm at any position while the force is detected at the base, eliminating the need for holding the distal end and reducing teaching apparatus complexity
Solution Approach 2:
The robot arm itself serves as an intermediary mechanical structure that transmits the force applied by the teacher at any position on the arm to the force sensor at the base, enabling indirect force detection without requiring direct contact at the distal end
2Ease of operation
If the teacher manually operates the robot arm for direct teaching, then intuitive teaching is possible, but the operation becomes difficult when the arm's position and posture hide the distal end and force sensor
Solution Approach 1:
The force detection point is moved from the distal end (three-dimensional space at the arm's end) to the base (different spatial dimension), allowing force application at any position along the arm's length while maintaining detection capability regardless of arm posture
Solution Approach 2:
The force sensor is pre-installed at the base rather than requiring temporary attachment at the distal end during teaching operations, enabling continuous force detection throughout the teaching process regardless of arm configuration
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
Enables intuitive and efficient teaching of the robot by allowing direct force-based control and registration of teaching points, reducing the need for external teaching apparatuses and improving operation clarity, even when the arm's posture hides the end effector.
Implementation Method 1
a force detection unit provided in the base... a control unit that controls an action of the first arm, the second arm, or the third arm based on a detection value of the force detection unit
Data Source
AI summary
A horizontal articulated robot includes a base, a force detection unit provided in the base, a first arm coupled to the base and pivoting about a first pivot axis, a second arm coupled to the first arm and pivoting about a second pivot axis, a third arm coupled to the second arm, pivoting about a third pivot axis, and moving in an axial direction of the third pivot axis, a control unit that controls an action of the first arm, the second arm, or the third arm based on a detection value of the force detection unit, and an operation unit having a third arm operation part for operation of the third arm and a teaching point registration operation part for operation of registration of a position of a control point as a teaching point using the control unit, and provided in the second arm.