Robot Handling Mechanism With Adaptive Collision Force Thresholds
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current collision protection systems in handling devices, such as robots, are limited by inhomogeneous force thresholds and inability to adapt to dynamic movements and accelerations, leading to potential damage during collisions due to high collision forces and false triggering.
Innovation Solution
A dynamically controlled collision protection system with a mechanism allowing relative movement of the handling device, using actuators to set a homogeneous triggering threshold based on real-time force data from sensors, including weight and inertial forces, to prevent or limit contact forces during collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed force threshold is set for collision protection, then the system is simple to operate, but it cannot adapt to dynamic movements and accelerations causing false triggering or insufficient protection
Solution Approach 1:
The patent applies dynamics by making the force threshold adaptive rather than fixed. The control device dynamically adjusts the force threshold based on real-time movement data, acceleration, and weight information from sensors. This allows the collision protection system to adapt to varying operational conditions while maintaining straightforward actuator operation.
Solution Approach 2:
The system implements feedback by continuously monitoring movement data, acceleration, and weight through sensors, then using this information to adjust the force threshold in real-time. The control device receives sensor input and modifies the actuator's force threshold accordingly, creating a closed-loop adaptive system that responds to dynamic conditions.
2Object-affected harmful factors
If the mass to be decelerated is reduced to lower collision forces, then collision damage is reduced, but the system cannot compensate for weight and inertial forces during rapid movements
Solution Approach 1:
The patent changes the parameter of force threshold from a fixed value to a dynamically adjustable parameter. Based on movement data, acceleration, and weight measurements, the control device modifies the force threshold to account for weight and inertial forces during rapid movements, ensuring reliable collision protection without false triggering.
Solution Approach 2:
The system performs preliminary action by calculating and setting the appropriate force threshold before potential collisions occur. The control device continuously adjusts the force threshold based on current movement conditions, so when a collision occurs, the system is already optimized to handle the specific dynamic conditions.
3Force
If mechanical collision protection systems are used with pneumatic actuators, then the force threshold can be set, but the system is difficult to control in a highly dynamic manner
Solution Approach 1:
The patent replaces the purely mechanical pneumatic actuator control with an electronically controlled system. The control device uses electronic signals to adjust the force threshold based on sensor data, eliminating the need for complex mechanical adjustments and enabling highly dynamic control while maintaining precise force threshold management.
4Object-affected harmful factors
If the force threshold is set low to protect workers during collisions, then safety is improved, but the system triggers falsely during normal operations with weight and inertial forces
Solution Approach 1:
The system dynamically changes the force threshold parameter based on operational context. During normal operations, the threshold accounts for expected weight and inertial forces, preventing false triggering. During potential collision scenarios, the threshold remains low to ensure worker safety, achieving both goals through adaptive parameter adjustment.
Data Source
Figure 1~2
Figure 3~5
Figure 6~8
AI summary
Handling device (1), in particular a robot with at least one handling device (5) movable in at least one direction of movement (X) and with a collision protection device (10) which is suitable and intended to limit the contact forces in the event of collisions of the handling device (5) with objects, wherein the collision protection device (10) has a kinematic mechanism which mechanically enables relative movement of the handling device (5) with respect to a carrier of the handling device, wherein this can be blocked by at least one actuator and enables the relative movement in the event of a collision, characterized in that the handling device (1) has a detection device (4).which determines the forces acting on the handling device and/or the components of the collision protection device decoupled by the actuator device and the collision protection device (10) prevents a relative movement of the handling device to the support of the handling device taking these forces into account without collision by the actuator device and triggers or enables in the event of a collision.