Industrial Robot Force Deviation Collision Detection
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Solution Overview
Problem
Conventional industrial robot systems without safety fences pose a risk of accidental collisions between robots and humans, as they lack effective collision detection mechanisms, potentially endangering personnel.
Innovation Solution
An industrial robot system equipped with force detection units, estimation units, and command output units that compare detected forces with threshold values and deviation patterns to output stop, deceleration, or operation commands, ensuring safe operation by detecting and responding to external forces and deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If no safety fence is used to allow shared work space between robot and human, then productivity is improved and ease of operation is improved, but safety of the person deteriorates
Solution Approach 1:
The system performs preliminary collision detection by continuously monitoring external forces on the robot before actual contact occurs. Force detection units measure forces in advance, and when predetermined thresholds are exceeded, the robot stops or decelerates proactively, preventing harmful collisions before they can cause injury.
Solution Approach 2:
The system implements continuous feedback through force detection units that monitor external forces applied to the robot. The control apparatus receives real-time force information, compares it against predetermined thresholds, and automatically adjusts robot operation (stop or decelerate) based on the feedback, creating a closed-loop safety mechanism.
2Object-affected harmful factors
If force detection units are added to detect external forces for collision prevention, then safety of the person is improved, but device complexity increases
Solution Approach 1:
The force detection units serve multiple functions: they detect external forces for collision prevention, measure forces during normal operation, and provide data for control decisions. This multi-functionality reduces the need for separate dedicated collision detection hardware, thereby limiting the increase in device complexity.
Solution Approach 2:
The system uses parameter changes in force magnitude to trigger different safety responses. By monitoring changes in force parameters against predetermined thresholds, the system can distinguish between normal operational forces and collision forces, enabling safety functionality through existing force measurement capabilities rather than requiring entirely new detection mechanisms.
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 system effectively prevents collisions by stopping or decelerating the robot when significant deviations are detected, ensuring human safety and reliable operation even with potential sensor malfunctions.
Implementation Method 1
a force detection unit detecting an external force applied to the robot
Data Source
AI summary
An industrial robot system includes a first deviation calculation unit calculating a first deviation between a first force detection value and a first force estimation value, a first command output unit outputting an operation command, a stop command, a deceleration command, or a deceleration stop command to a robot when a first deviation is larger than a first threshold value, and a fourth command output unit outputting the operation command, the stop command, the deceleration command, or the deceleration stop command according to a deviation pattern when the first deviation includes a common deviation pattern.