Robot Manual Feed Interference Calculation
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Solution Overview
Problem
Conventional manual operation of robots often results in interference with peripheral objects due to the lack of effective range calculation and control, leading to potential collisions and errors as workers rely on visual judgment to avoid obstacles.
Innovation Solution
A manual feed apparatus that includes a manual operation panel and a robot control apparatus with an interference calculation apparatus, which calculates and sets an operable range for the robot to move without interfering with peripheral objects, and adjusts speed or stops the robot when the allowable range is compromised.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot is manually operated by a worker using visual judgment to avoid obstacles, then the worker can operate the robot flexibly, but the robot may interfere with peripheral objects due to human error or lack of attention
Solution Approach 1:
The system continuously calculates the operable range based on the robot's current state and provides real-time feedback to the control apparatus. The control apparatus then adjusts the robot's speed or position based on this feedback, creating a closed-loop control system that prevents interference while maintaining manual operation flexibility.
Solution Approach 2:
The interference calculation apparatus acts as an intermediary between the manual operation panel and the robot control apparatus. It calculates the operable range and transmits this information to the control apparatus, which then adjusts the robot's operation accordingly, mediating between human input and robot execution to prevent interference.
2Productivity
If the robot operates at high speed during manual operation, then productivity is improved, but the risk of interference with peripheral objects increases
Solution Approach 1:
The robot's operation speed is dynamically adjusted based on the calculated operable range. When the operable range is sufficient, the robot can operate at high speed for productivity. When the operable range becomes small (below the judgment value), the speed is automatically reduced or operation is stopped, preventing interference while maintaining high productivity when safe.
Solution Approach 2:
The system changes the operational parameters (speed, position) of the robot based on the calculated operable range. The control apparatus adjusts these parameters in real-time according to the safety margins identified by the interference calculation apparatus, optimizing both productivity and safety.
3Reliability
If the operable range is calculated in real-time during robot movement, then interference prevention is improved, but the calculation time and processing load increase
Solution Approach 1:
The interference calculation apparatus calculates the operable range in advance during periods when the robot is stopped or before movement begins. This preliminary calculation allows the system to have safety information ready before operation, reducing the need for continuous real-time calculation during movement and minimizing processing time loss.
Solution Approach 2:
The system performs interference range calculations periodically when the robot is stopped or at specific intervals during operation, rather than continuously during movement. This periodic calculation approach reduces processing load while maintaining adequate interference prevention, as the robot's position and the operable range are updated at discrete moments.
Data Source
AI summary
A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.