Robot Handle Layout for Precise Lead-Through Tool Control
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Solution Overview
Problem
Existing robot operating devices face challenges in intuitive and precise control of robotic motions, particularly when using elongated tools like welding torches, due to handle configurations that can interfere with peripheral members and require complex switch operations.
Innovation Solution
A robot operating device with a bracket-mounted elongated tool and two handles, where one handle is aligned with the tool's plane and the other intersects it, allowing for intuitive force-based control and reduced interference, with integrated sensors detecting applied forces to adjust the robot's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the operator individually grasps the two handles with his/her two hands to control the robot, then the control precision is improved, but the handles may interfere with peripheral members and require complex switch operations
Solution Approach 1:
The patent positions the two handles in different spatial dimensions relative to the tool. One handle is disposed in the plane containing the rotation axis and tool longitudinal axis, while the other handle is disposed outside this plane. This three-dimensional arrangement allows the operator to grasp both handles simultaneously without interference from peripheral members, maintaining control precision while improving ease of operation.
2Measurement precision
If the handles are positioned to allow individual grasping, then control precision is improved, but the device complexity increases due to spatial arrangement requirements
Solution Approach 1:
The patent employs asymmetric positioning of the two handles relative to the tool and rotation axis. Instead of symmetric arrangement, one handle is placed in the principal plane while the other is offset outside this plane. This asymmetric configuration achieves the required control precision while simplifying the overall device structure by avoiding complex mechanical linkages.
3Adaptability or versatility
If the elongated tool is attached at a decentered position, then the tool can be properly positioned for operation, but the handle configuration becomes more complex to avoid interference
Solution Approach 1:
The patent resolves the interference issue caused by decentered tool attachment by utilizing three-dimensional space. The handles are arranged such that one lies in the plane containing the rotation axis and tool axis, while the other extends outside this plane. This spatial arrangement allows the elongated tool to be properly positioned for various operations while keeping the handle configuration relatively simple.
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
Enhances intuitive control and precision of robotic motions, reduces interference with peripheral members, and simplifies switch operations, making it easier for operators to teach complex motions.
Implementation Method 1
a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force
Data Source
AI summary
A robot operating device is mounted to a robot. The robot is capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force and the robot operating device including: a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis; and two handles that are secured to the bracket and that are respectively grasped by two hands of the operator, wherein the handle is disposed in the plane so as to extend in a direction along a longitudinal axis of the tool, and the handle is disposed in a vicinity of the tool so as to extend in a direction intersecting the plane.