Robot Arm 3D Sensor for Intuitive Direct Teaching
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Solution Overview
Problem
Existing robot teaching methods, such as using a teach pendant, require significant operator skill and time, while direct teaching methods require a dedicated device attachment and are cumbersome to position, limiting intuitive and efficient robot motion control.
Innovation Solution
A robot system with a movable part equipped with a 3D position sensor that shifts into a following mode when an article reaches a reference position, allowing the robot to follow the article's movement direction, eliminating the need for a dedicated device and enabling intuitive teaching without a teach pendant.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If direct teaching is used, then the operator can intuitively determine the direction of movement of the robot, but it requires attaching a dedicated device such as a teaching handle to the robot
Solution Approach 1:
The patent extracts the teaching function from a dedicated external device and integrates it directly into the robot's movable part. The sensor is embedded in the robot arm itself, eliminating the need for separate teaching handles or attachments. This allows operators to intuitively guide the robot by moving articles near the sensor, while the robot arm adapts its movement based on the sensor's detected position and orientation.
Solution Approach 2:
The sensor integrated in the movable part serves multiple functions: it detects the position and orientation of articles during teaching operations, and also enables the robot to adapt its movement characteristics during normal operation. This multi-functional sensor replaces the need for dedicated teaching devices while providing ongoing operational benefits.
2Ease of operation
If direct teaching is used, then the operator can teach the robot easier, but it is burdensome to change an attachment position of the robot
Solution Approach 1:
The patent makes the teaching sensor dynamic by integrating it directly into the movable part of the robot. As the robot arm moves to different positions, the sensor automatically moves with it, maintaining its functional relationship with the workspace. This eliminates the need to physically reattach or reposition teaching devices when changing robot positions, as the sensor is permanently integrated and moves with the robot's natural motion.
3Ease of manufacture
If teach pendant is used, then the operation is skillful, but an inexperienced operator needs much time for the teaching
Solution Approach 1:
The robot system performs self-adjustment during teaching operations. The sensor automatically detects article position and orientation, and the control system automatically adjusts robot movement parameters based on this data. This self-service capability eliminates the need for operators to manually calculate or program complex movement parameters, allowing both experienced and inexperienced operators to perform teaching efficiently without extensive training.
Solution Approach 2:
The integrated sensor provides real-time feedback on article position and orientation during teaching operations. This feedback loop allows the control system to automatically adjust robot movement characteristics, enabling operators to intuitively guide the robot without needing to understand complex programming or calculation procedures. The system responds immediately to operator actions, making the teaching process accessible to operators regardless of their experience level.
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 robot motion control by allowing the robot to follow the movement of an article, reducing teaching time and complexity, and eliminating the need for additional device attachments, while providing precise position and force detection for safe operation.
Implementation Method 1
a sensor arranged on a surface of the movable part, the sensor being configured to measure a three-dimensional position of an article when the article contacts or is close to the sensor
Data Source
AI summary
A robot system and a robot controller, by which a teaching operation, etc., of a robot can be intuitively carried out by a simple operation. The robot has a sensor arranged on a surface of a movable part or the robot, and the sensor is configured to detect a three-dimensional position of an article, when the article contacts or is close to the sensor. When the article reaches a reference position, a mode change section switches a motion mode of the robot to a following mode. In the following mode, based on the direction of movement of the article from the reference position, the direction of motion of the robot is determined. Then, a motion control section controls the motion of each axis of the robot so that a portion where the article contacts moves in a direction generally the same as the direction of movement of the article.