Robot Control Device for High-Pressure Water Cleaning
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Solution Overview
Problem
Existing control devices for high-pressure water cleaning robots restrict operators to controlling only one movement at a time, making continuous movement sequences difficult and requiring significant learning effort, while also posing safety risks due to the need for physical proximity and heavy physical labor.
Innovation Solution
A control device that utilizes both hand and forearm movements for controlling the robot, allowing independent control of translational and rotational movements, with sensors to detect these movements and convert them into robot commands, enabling intuitive operation without the need to relearn coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If touch-sensitive control panels with buttons are used to control robot movements, then the control device structure is simple, but the operator can only control one movement at a time and must rethink the TCP coordinate system, making operation complex and continuous movement sequences almost impossible
Solution Approach 1:
The control device copies the natural human arm movement structure (forearm and hand) to control the robot's TCP movements. The forearm plate controls translational movements (x, y, z directions) while the control lever controls rotational movements (roll, pitch, yaw), mirroring the physical relationship between forearm and hand movements and the corresponding robot degrees of freedom.
Solution Approach 2:
The control device segments the control functions into two independent parts: the forearm plate for controlling translational movements and the control lever for controlling rotational movements. This segmentation allows each part to be optimized for its specific function while working together to provide intuitive six-degree-of-freedom control.
2Ease of operation
If an operator controls high-pressure water cleaning robot in immediate vicinity, then direct control is possible, but the operator is exposed to dangerous high-pressure water jets and must wear protective clothing that hinders physical work
Solution Approach 1:
The robot serves as an intermediary between the operator and the high-pressure water cleaning task. The operator controls the robot remotely from a protected area, and the robot's robot hand executes the cleaning operations in the hazardous environment. This intermediary approach eliminates direct exposure to dangerous water jets while maintaining control capability.
3Object-affected harmful factors
If a robot is used for high-pressure water cleaning, then operator safety is improved through remote operation, but the high recoil forces from water jets require a sufficiently dimensioned robot which increases device complexity
Solution Approach 1:
The robot system handles its own recoil forces through its sufficiently dimensioned structure and mounting to the workpiece or fixed structure. The robot's own mechanical design absorbs and manages the high forces generated during high-pressure water jet operations, eliminating the need for additional external force compensation systems.
4Adaptability or versatility
If conventional control devices require teaching and rethinking of coordinate systems, then basic control functionality is achieved, but the learning effort and time required for operation increases significantly
Solution Approach 1:
Instead of requiring the operator to adapt to the robot's coordinate system and control logic, the control device is designed to match the operator's natural movement patterns. The forearm plate and control lever movements directly correspond to intuitive spatial movements, inverting the traditional approach where the operator must learn the machine's coordinate system.
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
Significantly simplifies the operation of robots by allowing simultaneous and intuitive control of multiple movements, reducing the learning curve and eliminating the need for separate control systems, while ensuring operator safety by allowing remote operation and reducing physical strain.
Implementation Method 1
at least one sensor for detecting a movement of the forearm plate in the x-y plane relative to the holding part
Implementation Method 2
sensors for detecting the movements of the control lever relative to the forearm plate
Implementation Method 3
a robot hand of the robot has a nozzle for ejecting water under high pressure
Implementation Method 4
High pressure is generally understood to be water at a pressure of at least 800 bar, preferably higher
Data Source
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AI summary
The device for controlling a robot (23), preferably a robot (23) whose robot hand (29) is connected to a nozzle (31) for high-pressure cleaning using water (33), comprises a) a holding part (24), b) a forearm plate (26) supported by the holding part (24), which is elastically preloaded to a zero position and is movable from the zero position relative to the holding part (24) in the xy-plane, c) at least one sensor (30) for detecting a movement of the forearm plate (26) in the xy-plane relative to the holding part (24), d) a control lever (40) supported by the forearm plate (26), which performs at least one movement relative to the forearm plate (26) starting from a neutral position to which it is elastically preloaded, and e) sensors (30) for detecting the movements of the control lever (40) relative to the forearm plate (26).