Robot Arm Teaching with Force-Based Bending State Switching

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

The existing teaching methods for robot arms require operators to manually switch between bending states, making the operation complex and prone to errors due to the need to operate a device while applying force, which complicates the process of storing the position and attitude of the robot arm during teaching.

Innovation Solution

A teaching method that utilizes a force detection unit to automatically switch between different bending states of a robot arm, allowing the operator to focus on moving the arm without needing to manually operate a switching device, by detecting forces applied to the arm and adjusting the arm's position and attitude accordingly.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the operator manually operates a switching device to switch between bending states during teaching, then the robot arm can switch between different bending states, but the operation becomes complicated and the teaching process becomes complex

Engineering Contradiction:

Improveswitching between bending statesVSAvoidteaching operation complexity

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The robot arm automatically determines and switches between bending states based on the position information detected during teaching, eliminating the need for the operator to manually operate a switching device. The system serves itself by autonomously managing the bending state transitions while the operator focuses only on moving the robot arm to teach positions.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the manual mechanical operation of a switching device with an automated system that uses position detection and logical determination to switch between bending states. The mechanical action of operating a switch is substituted with an automated control process that monitors robot arm position and automatically transitions between states.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If the operator applies force to move the robot arm while simultaneously operating a switching device, then the bending state can be switched, but the operation becomes complicated and error-prone

Engineering Contradiction:

Improvebending state switchingVSAvoidteaching operation accuracy

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The robot arm autonomously determines the appropriate bending state based on its detected position during teaching, eliminating the need for the operator to manually switch states. This self-service approach ensures that the bending state transitions are reliably determined by the system itself rather than by complex manual coordination.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system continuously detects the position of the robot arm during teaching and uses this feedback information to automatically determine and switch between bending states. The position detection provides real-time feedback that enables the system to make accurate, reliable decisions about state transitions without operator intervention.

Inventive Principle:

Principle #23Feedback

3Productivity

If the robot arm performs work in a bent state, then the work can be performed, but switching between states during teaching requires additional operations

Engineering Contradiction:

Improvework performanceVSAvoidteaching time

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The system pre-determines the appropriate bending state based on the detected position of the robot arm during teaching. By having the system automatically determine and switch to the correct bending state in advance, the patent eliminates the need for time-consuming manual switching operations during the teaching process.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robot arm dynamically switches between bending states based on real-time position detection during teaching. The system adaptively changes its configuration from one bending state to another as needed, allowing seamless transitions that maintain productivity while eliminating manual intervention.

Inventive Principle:

Principle #15Dynamics

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 method simplifies the teaching process by reducing the operator's workload and enabling accurate switching between bending states, thereby improving the efficiency and accuracy of teaching the robot arm's position and attitude.

Implementation Method 1

a force detection unit detecting a force applied to the robot arm

Methodology Applied

Scientific EffectForce detection: Force

Data Source

PatentUS11400584B2Teaching method

Publication Date: 2022.08.02 SEIKO EPSON CORP

AI summary

A teaching method is for teaching a position and attitude of a robot arm to a robot configured to switch between a first state where the third axis is located at one side of a first imaginary line and a second state where the third axis is located at the other side of the first imaginary line, the first imaginary line being set as a straight line passing through a first axis and a second axis when the robot arm is viewed from a direction along the first axis. The method includes performing a switching operation of switching between the first state and the second state according to a result of detection by a force detection unit.