Robot Teaching Mode Switching via Force Detection
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Solution Overview
Problem
The existing robot systems require continuous pressing of a lead-through switch during direct teaching, leading to low workability and high costs, and existing safety monitoring techniques may miss blind spots around movable mechanical parts.
Innovation Solution
A robot system with a movable machine control part, a teaching content registration part, and sensors to detect intrusion and contact, allowing switching between modes to decelerate or stop the mechanical part upon intrusion detection and enable teaching content registration without user button operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a lead-through switch is continuously pressed during direct teaching work, then the robot system can accurately register teaching content, but the workability is reduced and the system becomes more complex
Solution Approach 1:
The patent extracts the teaching content registration function from the continuous button-pressing operation. By detecting the operator's contact with the movable mechanical part through force sensors, the system automatically identifies teaching moments without requiring continuous switch pressing, thus removing the cumbersome operation while preserving accurate teaching content capture
Solution Approach 2:
The system enables self-service teaching by detecting the operator's natural contact with the mechanical part. The force detection mechanism automatically identifies when teaching should occur based on the operator's physical interaction, eliminating the need for manual switch operation and making the teaching process more intuitive and efficient
2Adaptability or versatility
If a lead-through switch is provided for teaching work, then teaching function is enabled, but the cost increases
Solution Approach 1:
The force detection mechanism serves multiple functions: it detects operator contact for teaching content registration, monitors for collision safety, and identifies operational states. This multi-functionality eliminates the need for dedicated teaching switches, reducing component count and system cost while maintaining full teaching capability
Solution Approach 2:
The patent merges the teaching detection function with the existing force detection infrastructure used for safety monitoring. By combining these functions into a single detection system, the patent eliminates redundant components and reduces overall system cost while maintaining both teaching and safety capabilities
3Reliability
If safety monitoring is enhanced with sensors, then user safety is improved, but the system complexity and cost increase
Solution Approach 1:
The force detection sensors serve dual purposes: monitoring operator contact for teaching content registration and detecting unintended collisions for safety. This multi-functionality enhances safety monitoring capabilities without adding dedicated safety sensors, thereby reducing system complexity
Solution Approach 2:
The patent combines teaching detection and safety monitoring functions into a single force detection system. By merging these functions, the patent achieves enhanced safety monitoring with comprehensive sensor coverage while avoiding the complexity increase that would result from separate dedicated safety sensor systems
4Ease of operation
If the first sensor detects contact for teaching, then teaching workability is improved, but safety monitoring may be compromised
Solution Approach 1:
The patent dynamically adjusts the interpretation of sensor signals based on operating mode. In teaching mode, contact detection enables teaching content registration; in normal operation mode, the same contact detection triggers safety protocols. This dynamic response allows the system to optimize for teaching workability when needed while maintaining safety monitoring capability
Solution Approach 2:
The system preliminarily establishes different response protocols for different operating modes before conflicts arise. By pre-configuring the system to recognize teaching mode versus normal operation mode, the patent ensures that contact detection is interpreted appropriately for the current context, preventing safety compromises during teaching while maintaining teaching workability
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
Improves safety by suppressing user impact and enhances workability by allowing direct teaching without continuous button operations, while accurately detecting intrusions with capacitive and other sensors to cover wide monitoring areas.
Implementation Method 1
the first sensor may be a capacitive sensor
Data Source
Figure 1
Figure 2
Figure 3A~4B
AI summary
Provided is a robot system with improved safety and workability. A robot system (1) includes: a movable machine control part (41), controlling operation of a movable mechanical part (30) operating in a first mode and a second mode; a teaching content registration part (42), registering teaching content input by applying an operating force to the movable mechanical part; a first sensor (32), monitoring a first monitoring area set around the movable mechanical part; and an operating mode switch part (43), switching between a first mode in which the operation of the movable mechanical part is decelerated or stopped when intrusion of an object into the first monitoring area is detected and a second mode in which the teaching content can be accepted and executed while contact of a user with the movable mechanical part is being detected.