Detachable Robot Hand Guide With Integrated Force-Torque Sensing
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Solution Overview
Problem
Existing robot hand-guided devices lack flexibility and precision in manual operation, as they require complex manual adjustments and lack effective means to record and transmit forces and moments introduced by a user, limiting their ability to be programmed and controlled manually.
Innovation Solution
A robot hand-guided device with a transmission device and sensor system that includes deformation sections and sensors, such as strain gauges, to detect and record forces and moments, allowing for precise manual control of robot arm joints, and a detachable guide handle for flexible operation modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a non-detachable guide handle is attached to the robot arm, then the device structure is simplified, but the operational flexibility and adaptability are reduced
Solution Approach 1:
The guide handle is designed as a detachable component that can be separated from the robot hand-held device. This segmentation allows the handle to be attached or removed based on operational needs, providing flexibility while maintaining a simple overall device structure when the handle is not in use.
Solution Approach 2:
The connection between the guide handle and the robot hand-held device is made dynamic rather than static. The detachable connection mechanism allows the system to transition between different operational states (attached/detached), enabling adaptability without permanently increasing structural complexity.
2Measurement precision
If multiple sensors are installed on the robot arm to detect forces and moments, then the measurement precision is improved, but the device complexity and cost increase
Solution Approach 1:
Multiple sensing functions (force detection, moment detection, torque measurement) are merged into a single integrated sensor device located in the robot hand-held device. This consolidation achieves comprehensive measurement precision without the complexity of multiple separate sensors distributed on the robot arm.
Solution Approach 2:
The robot hand-held device acts as an intermediary between the user (via guide handle) and the robot arm. By placing the sensor device in this intermediary position, all forces and moments are measured at a single strategic location, eliminating the need for multiple sensors on the robot arm while maintaining accurate measurement capability.
3Reliability
If the guide handle is permanently fixed to the robot hand-held device, then the connection reliability is improved, but the adaptability for different operation modes is reduced
Solution Approach 1:
The permanent fixed connection is segmented into a detachable connection that can be reliably attached when needed and easily removed when not needed. This allows the system to achieve high connection reliability during manual operation while maintaining adaptability for different operation modes through the ability to attach or detach the handle as required.
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
Enables flexible and precise manual control of robot arms, allowing for accurate programming and operation, with the ability to detect process forces and moments, and reduces the need for additional sensors on the robot arm, enhancing operational efficiency and safety.
Implementation Method 1
a transmission device which is designed to transmit forces and moments between the first connecting flange and the second connecting flange and a sensor device attached to the transmission device which is designed to detect the forces and moments transmitted via the transmission device
Implementation Method 2
The transmission device according to the present invention can comprise a plurality of deformation sections and associated sensors, such as strain gauges (SGs)
Data Source
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AI summary
The invention relates to a robot hand guide device (12), having a first connection flange (14.1), which is designed to connect the robot hand guide device (12) to a tool flange (8) of a robot arm (2), a second connection flange (14.2), which is designed to fasten a tool (11) to be handled by the robot arm (2) to the robot hand guide device (12), and a transfer apparatus (13), which is designed to transfer forces and torques between the first connection flange (14.1) and the second connection flange (14.2) and a sensor device (15) attached to the transfer apparatus (13), said sensor device being designed to detect the forces and torques transferred via the transfer apparatus (13), wherein the robot hand guide device (12) has at least one first connection means (16.1), which is connected to the first connection flange (14.1), and the at least one first connection means (16.1) is designed for detachably connecting a guide handle (17) of the robot hand guide device (12) to the first connection flange (14.1).