Collaborative Robot Automatic Area Setting via Contact Detection

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Solution Overview

Problem

Conventional methods for setting the operable-inoperable areas of collaborative robots require significant operator input and can be cumbersome, especially in complex workspaces, increasing the burden on setting operators.

Innovation Solution

A robot system that automatically sets operable-inoperable areas by detecting contact with objects within a predetermined search area using position-posture data, allowing robots to move along scheduled search routes and adjust them based on contact, with the ability to indicate and select the effectiveness of these areas on a display device.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If a setting operator inputs numerical values to set the operable-inoperable area of the robot, then the operable-inoperable area can be set, but a large amount of inputting work is required and the burden on the setting operator increases

Engineering Contradiction:

Improveease of setting operable-inoperable areaVSAvoidtime required for setting

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The robot performs self-learning by autonomously moving through the work space and detecting objects using its force sensor. The robot automatically generates operable-inoperable area information based on its own movement data and contact detection, eliminating the need for operator input and significantly reducing setting time

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The robot performs preliminary movement through the entire work space along a search route before actual operation begins. This preliminary action allows the robot to pre-detect all objects and pre-establish the operable-inoperable area map, so that the setting is completed automatically before production starts

Inventive Principle:

Principle #10Preliminary action

2Measurement precision

If a setting operator sets the operable-inoperable area by estimating the interference area, then the area can be set, but it becomes difficult to appropriately set the area in complicated work spaces

Engineering Contradiction:

Improveprecision of operable-inoperable area settingVSAvoidcomplexity of work space

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The robot uses force sensor feedback to detect contact with objects during its movement through the work space. This real-time feedback allows the robot to accurately identify object positions and boundaries, automatically generating precise operable-inoperable area information even in complex work spaces without operator intervention

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces the manual estimation process with an automated sensing system. The robot's force sensor and control unit substitute for the operator's visual estimation and manual input, using mechanical contact detection to automatically map the work space and generate accurate area definitions

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS10421193B2Robot system

Publication Date: 2019.09.24 FANUC LTD

AI summary

To provide a robot system capable of reducing the burden of a setting operator regardless of conditions such as setting conditions of a robot and the complexity of a work space at the time of setting an operable-inoperable area of the robot. A robot system has a robot capable of detecting contact with an obstacle. The robot moves inside a predetermined search area in a predetermined posture along a previously-determined scheduled search route and sets an operable-inoperable area of the robot inside the search area based on position-posture data with respect to the robot having come into contact with the obstacle during moving of the robot.