Multi-joint Robot Gas Spring Pressure Estimation
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Solution Overview
Problem
Existing multi-joint robots with gas springs face issues of inner pressure decrease due to gas leakage, leading to reduced torque output and increased costs and complexity with external pressure indicators or sensors, which can cause gas leakage and system enlargement.
Innovation Solution
A multi-joint robot with a controller that calculates the total movement distance of the piston rod and estimates the decrease in inner pressure of the gas spring using parameters like absolute pressure, piston rod velocity, and temperature, eliminating the need for external sensors and gauges, thereby maintaining a compact and low-cost structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a pressure indicator or sensor is attached to the gas spring to monitor inner pressure, then the reliability of pressure monitoring is improved, but the device complexity and cost increase
Solution Approach 1:
The gas spring system monitors its own pressure status through the relationship between piston rod movement distance and pressure depletion. The control unit calculates total movement distance of the piston rod and uses this information to determine pressure status, eliminating the need for external pressure sensors or indicators attached to the gas spring.
Solution Approach 2:
The invention uses the piston rod movement distance as an intermediary parameter to indirectly monitor gas spring pressure. Instead of directly measuring pressure with sensors, the system measures the correlation between piston rod displacement and pressure depletion, using movement distance as a mediator to infer pressure status.
2Measurement precision
If a pressure sensor and pressure control valve are arranged in the gas spring, then the measurement precision of inner pressure is improved, but the device complexity and gas leakage risk increase
Solution Approach 1:
The system uses the existing piston rod movement information to self-determine pressure status without requiring additional sensors inside the gas spring. The control unit leverages the relationship between piston rod displacement and gas consumption to monitor pressure, avoiding the need for intrusive measurement devices.
Solution Approach 2:
The invention replaces mechanical pressure sensing devices with a calculation-based approach. Instead of using physical pressure sensors that require installation inside the gas spring, the system uses the control unit to calculate pressure status based on piston rod movement distance, substituting mechanical measurement with computational assessment.
3Measurement precision
If external pressure indicators are connected to the gas spring via connectors, then the measurement precision is improved, but the reliability decreases due to increased gas leakage possibilities
Solution Approach 1:
The gas spring system monitors its own pressure status through internal parameters (piston rod movement distance) rather than requiring external connection devices. This self-monitoring approach eliminates connectors and external indicators that could create gas leakage paths.
Solution Approach 2:
The invention extracts the pressure monitoring function from external devices and integrates it into the control unit through calculation based on piston rod movement. This removes the need for external pressure indicators and their connecting mechanisms, eliminating the gas leakage risk associated with these external components.
Data Source
AI summary
A multi-joint robot having a function for estimating an amount of decrease in inner pressure of a gas spring, by means of a simple and low-cost structure, and a method for estimating the amount of decrease in inner pressure of the gas spring. The gas pressure within a cylinder of the gas spring decreases in connection with the motion of a lower arm associated with the gas spring. In the present invention, in view of a finding that the amount of decrease in inner pressure has a high correlation with a total movement distance obtained by integrating an amount of back-and-forth motion of a piston rod relative to a cylinder, an amount of decrease in inner pressure within the gas spring is estimated by calculating the total movement distance.