Rotatable Arm Mark Detection for Robot Positioning
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Solution Overview
Problem
Existing rotary encoder systems for robots require additional components for rotation detection, making it difficult to achieve miniaturization and weight reduction due to the need for separate rotators and fixing components.
Innovation Solution
A robot design that integrates a mark on the surface of a turnable member and a mark detection portion within the base member, allowing for the detection of relative turning states without additional components, and simplifying wiring by co-locating the mark detection with the driving device, enabling miniaturization and lightweight construction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a hollow tubular flange-shaped rotator is provided in the optical encoder with separate fixing components, then rotation detection function is achieved, but the number of components increases making miniaturization and weight reduction difficult
Solution Approach 1:
The patent merges the rotator function directly into the robot arm structure. The robot arm itself serves as the rotator, eliminating the need for separate hollow tubular flange-shaped rotators and their fixing components. This integration maintains rotation detection accuracy while significantly reducing component count, enabling miniaturization and weight reduction.
Solution Approach 2:
The robot arm performs multiple functions: it serves as both the mechanical linkage for robot operation and the rotator for rotation detection. By making the robot arm universal for both purposes, the patent eliminates redundant components while maintaining detection precision through the mark detection system.
2Measurement precision
If mark detection portion and driving device are located on opposite sides, then detection function is achieved, but wiring becomes complex hindering miniaturization
Solution Approach 1:
The patent combines the mark detection portion and driving device on the same side of the robot base. This spatial co-location simplifies wiring by reducing the distance and complexity of electrical connections between these components, while maintaining detection accuracy through proper optical positioning for mark detection.
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 configuration reduces the number of components, allows for accurate detection of turning states such as angle, position, and speed, and maintains accuracy even if marks are blurred, facilitating the implementation of both optical absolute and incremental type encoders.
Implementation Method 1
a light emitting element that emits light toward the mark; and a light receiving element to which the light reflected from the mark is incident
Data Source
AI summary
A robot includes a first member, a second member that is provided to be turnable about a turning axis with respect to the first member, marks that are disposed around the turning axis on a surface of the second member, and a mark detection portion that is disposed in the first member and detects the marks.