Robot Arm Cable Routing and Base Force Sensor Integration
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Solution Overview
Problem
Existing robots fail to accurately detect contact with humans and prevent collisions, as they are prone to erroneous detection due to bending deformation or pulling forces in the articulated arm, and there is a risk of objects being caught between the arm and cables.
Innovation Solution
A robot design featuring a force sensor on the base to detect external forces applied to the articulated arm, with cables routed internally through the arm members and base, reducing erroneous detection and the risk of objects being caught, and allowing for stop, deceleration, or avoidance motions based on sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a torque sensor or contact sensor is used to detect contact with a person, then contact detection capability is improved, but erroneous detection occurs due to bending deformation or pulling forces in the articulated arm
Solution Approach 1:
The patent extracts the contact detection function from the articulated arm structure and relocates it to the base. By placing the sensor on the base to detect external forces applied to the articulated arm, the system eliminates the interference caused by bending deformation and pulling forces within the arm itself, thereby resolving the contradiction between contact detection capability and detection reliability.
2Ease of manufacture
If cables are routed externally along the articulated arm, then ease of installation is improved, but risk of objects being caught between the arm and cables increases
Solution Approach 1:
The patent applies the nesting principle by routing the cables through the internal structure of the articulated arm members rather than externally. The cables are guided through cable guide holes in each arm member and through the base, effectively nesting the cables within the arm structure. This eliminates the hazard of objects being caught between external cables and the arm while maintaining proper cable connection and routing.
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 solution effectively reduces erroneous contact detection and minimizes the risk of objects being caught between the cable and the articulated arm, enhancing safety by accurately determining contact and preventing collisions.
Implementation Method 1
a sensor that is provided on the base and detects external force applied to the articulated arm
Data Source
AI summary
A robot includes a base; an articulated arm provided on the base; a sensor that is provided on the base and detects external force applied to the articulated arm; a controller that causes the articulated arm to perform a stop motion on a basis of a detected value of the sensor; and a cable having one end connected to devices mounted on a tip-side arm member of the articulated arm, and having the other end connected to the controller that controls the devices wherein the cable enters into the articulated arm from an arm member, passes through arm members which are disposed closer to the base side than the arm member is, and is connected to the controller.