Robot Joint Lost Motion Detection Using Line Sensor
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Solution Overview
Problem
Current methods for detecting deviation amounts caused by lost motion in robot systems are complex and time-consuming, requiring significant labor and resources.
Innovation Solution
A robot diagnosing method using a line sensor with a light emitter and receiver to detect the position of a detected portion, followed by rotating a joint portion and re-detecting the position to calculate the deviation amount caused by lost motion, allowing for a simplified procedure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the complex procedure described in Japanese Laid-Open Patent Application Publication No. 2009-49251 is used to detect deviation amount, then measurement precision can be achieved, but detection time and labor requirements increase significantly
Solution Approach 1:
The invention extracts only the essential measurement function from the complex prior art procedure. By using a simple laser displacement sensor to directly measure the position of the test piece at the robot's end effector, it isolates the core detection need from unnecessary complex procedures involving multiple sensors and coordinate transformations.
Solution Approach 2:
The invention replaces complex mechanical measurement systems with optical measurement. The laser displacement sensor uses light emission and reception to detect position, substituting mechanical contact measurement or complex optical systems with a simpler optical field-based measurement approach.
2Measurement precision
If the complex procedure with multiple sensors and coordinate transformations is used, then accurate deviation detection is achieved, but device complexity increases
Solution Approach 1:
The invention extracts only the essential measurement function from the complex prior art procedure. By using a simple laser displacement sensor to directly measure the position of the test piece at the robot's end effector, it isolates the core detection need from unnecessary complex procedures involving multiple sensors and coordinate transformations.
Solution Approach 2:
The invention introduces a simple intermediary element - a test piece with a reflective surface - that facilitates measurement without adding system complexity. This test piece serves as a mediator between the laser sensor and the robot's end effector, enabling accurate measurement through a straightforward optical path.
3Measurement precision
If traditional deviation detection methods are used, then measurement accuracy can be maintained, but the robot must be removed from the clean room environment, increasing operational complexity and time
Solution Approach 1:
The invention enables the measurement system to be self-contained within the clean room environment. The laser displacement sensor and test piece form a self-sufficient measurement setup that operates independently without requiring robot removal, allowing the robot to perform both manufacturing and diagnostic functions within the controlled environment.
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 accurate detection of deviation amounts caused by lost motion in a robot's joint portions with reduced complexity and time, without the need to remove the robot from the clean room environment, thereby reducing costs and installation space requirements.
Implementation Method 1
the line sensor including a light emitter configured to emit a light ray, a light receiver configured to receive the light ray emitted from the light emitter
Implementation Method 2
a detecting portion configured to detect a position of a detected portion based on a light receiving state of the light receiver
Data Source
AI summary
A robot diagnosing method of detecting a deviation amount caused by a lost motion includes: a first step of preparing a robot and a line sensor, the robot including a robot arm including one or a plurality of joint portions including a first joint portion, the line sensor including a detecting portion configured to detect a position of a detected portion based on a light receiving state of a light receiver, the detected portion being inserted between a light emitter and the light receiver; and a sixth step of detecting the deviation amount caused by the lost motion at the first joint portion based on (i) the position of the detected portion based on the position of the detected portion detected in a third step and a command value from a robot control portion in a fourth step and (ii) the position of the detected portion detected in a fifth step.