Robot Hand Teaching Restriction via Virtual Model

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Solution Overview

Problem

Existing robot systems require dedicated sensors and mechanical parts to prevent accidental dropping of conveyed objects during teaching operations, leading to increased complexity and manufacturing costs, and difficulty in handling varied workpieces.

Innovation Solution

A robot system with a control device that restricts teaching operations based on the robot hand's position and posture within a predetermined permitted area, using existing sensors and a hand model for judgment, eliminating the need for dedicated sensors and allowing for various shapes and sizes of workpieces to be handled.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If dedicated sensors and mechanical parts are added to confirm workpiece seating, then dropping prevention reliability is improved, but device complexity and manufacturing cost increase

Engineering Contradiction:

Improvedropping prevention reliabilityVSAvoidrobot hand structure complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent creates a virtual copy (hand model) of the robot hand in the teaching operation restricted area to replace physical sensors. The hand model's position and posture data are used to determine whether the robot hand is within the permitted area, eliminating the need for dedicated sensors while maintaining dropping prevention reliability

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces the mechanical sensor-based confirmation system with a computational approach using position/posture data and virtual hand model comparison. The teaching operation restriction is achieved through software-based spatial reasoning rather than mechanical sensors, reducing device complexity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If dedicated sensors and mechanical parts are added to confirm workpiece seating, then dropping prevention reliability is improved, but manufacturing cost increases

Engineering Contradiction:

Improvedropping prevention reliabilityVSAvoidrobot hand manufacturing cost

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The patent uses a virtual hand model (digital copy) instead of physical sensors, eliminating manufacturing costs associated with dedicated sensors and mechanical confirmation parts while maintaining the ability to prevent accidental dropping

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The robot hand's own position and posture data (already available for control purposes) are used to determine whether it is within the permitted area. The system serves its own confirmation function using existing data, eliminating the need for additional sensors and reducing manufacturing costs

Inventive Principle:

Principle #25Self-service

3Measurement precision

If sensors and mechanical parts are customized for individual workpiece dimensions and shapes, then workpiece detection precision is improved, but adaptability to various workpieces deteriorates

Engineering Contradiction:

Improveworkpiece detection precisionVSAvoidworkpiece variety handling capability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent creates a universal teaching operation restricted area that can accommodate various workpieces. The hand model approach and spatial boundary definition work for different workpiece types without requiring customization, while still providing precise determination of whether the robot hand is within the permitted area

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The virtual hand model serves as a universal representation that works with various workpieces. Instead of creating sensors customized for each workpiece, the system uses a single hand model that can be applied across different workpiece types, maintaining both precision and adaptability

Inventive Principle:

Principle #26Copying

Data Source

PatentUS9604360B2Robot system for preventing accidental dropping of conveyed objects

Publication Date: 2017.03.28 FANUC LTD

AI summary

A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.