Robot Hand Swinging for Mapping Sensor Positioning
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Solution Overview
Problem
Conventional methods for teaching robots using mapping sensors result in positional errors due to zeroing and mechanical dimensional errors, leading to imprecise object positioning.
Innovation Solution
A method involving a robot arm with a hand having two branching distal end portions and a mapping sensor that calculates offset amounts based on detection signal changes during swinging, allowing precise alignment of the target with the sensor beam's central axis, enabling accurate specification of the target's position in both forward-rearward and right-left directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a mapping sensor is used to detect object position by blocking a sensor beam, then the detection method is simple and cost-effective, but the position cannot be specified precisely in all directions due to accumulated errors and zeroing errors
Solution Approach 1:
The patent transitions from one-dimensional beam blocking detection to two-dimensional position specification by introducing angular measurement. The hand swings at a predetermined angle to detect the object's position not only in the beam direction but also in the angular direction, enabling precise specification of the object's plane position despite accumulated errors in the robot system.
2Ease of operation
If conventional teaching methods are used with mapping sensors, then the teaching process is straightforward, but the position of the object cannot be taught precisely due to zeroing errors and mechanical dimensional errors
Solution Approach 1:
The patent implements a feedback mechanism where the hand swings at a predetermined angle and the mapping sensor detects changes in the detection signal. Based on this feedback, the system determines whether the object has coincided with the central axis position and calculates offset amounts, iteratively adjusting the hand position to achieve precise teaching despite zeroing errors and mechanical dimensional errors.
3Measurement precision
If the hand swings to scan the target, then the position can be specified more accurately, but the detection signal changes making it complex to determine the exact position
Solution Approach 1:
The patent applies preliminary action by setting the hand to swing at a predetermined angle before detection. This predetermined angular displacement creates a predictable pattern in the detection signal changes, allowing the system to determine whether the object has coincided with the central axis position based on the direction and magnitude of signal changes, simplifying the processing complexity.
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
This approach allows for precise object positioning and improved teaching precision by compensating for errors, ensuring accurate alignment and reducing positional deviations.
Implementation Method 1
a mapping sensor configured such that a sensor beam travels straight through space between the first and second distal end portions, the mapping sensor detecting whether or not a target has blocked the sensor beam
Data Source
AI summary
A method of teaching a robot includes: a swinging step of causing a hand to swing about a predetermined pivot, which is on an axis perpendicular to an optical axis of a sensor beam, to scan a target in a horizontal direction of the sensor beam; a determining step of determining whether or not the target has coincided with a position along a central axis of the hand in its longitudinal direction based on a detection signal of a mapping sensor, the detection signal having changed owing to the swinging of the hand; and a shifting step of, if it is determined in the determining step that the target has not coincided with the position, calculating an offset amount of the hand based on the detection signal of the mapping sensor, the detection signal having changed owing to the swinging of the hand, and causing the hand to shift to either right or left along the optical axis of the sensor beam in accordance with the calculated offset amount.