Robot Exterior Sensor Layout for Stable Proximity and Contact Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Industrial robots face challenges in accurately detecting proximity and contact with objects due to issues with shock-absorbing cushions, which affect sensor sensitivity and responsiveness, and existing proximity sensors on end effectors often malfunction or operate prematurely, hindering safe collision avoidance.
Innovation Solution
A sensor system with a detection electrode portion on the outer or inner surface of a movable device, connected to a detection circuit unit, is used for accurate proximity and contact detection, featuring a mutual-capacitive electrostatic capacitance type configuration that is not affected by object color or temperature, and is securely fixed to prevent deformation-induced malfunctions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a shock absorbing cushion is wound around the arm and the sensor is disposed on the cushion, then collision protection is provided, but sensor output varies due to cushion deformation causing erroneous detection
Solution Approach 1:
The patent introduces a rigid sensor mounting structure as an intermediary between the cushion and the sensor. This rigid structure acts as a mediator that transmits collision forces directly to the sensor without allowing cushion deformation to affect the sensor output, thereby maintaining both collision protection and detection accuracy
2Reliability
If the sensor is disposed under the cushion, then cushion protection is maintained, but distance between object and sensor increases reducing proximity detection sensitivity
Solution Approach 1:
The patent positions the sensor on the outer surface of the cushion rather than underneath it, utilizing the outer surface dimension to achieve both proximity detection sensitivity (by being close to approaching objects) and cushion protection (by maintaining the cushion's protective function). This dimensional repositioning resolves the trade-off between sensitivity and protection
3Reliability
If the sensor is disposed under the cushion, then cushion structure is preserved, but impact force is absorbed by cushion deteriorating contact force detection responsiveness
Solution Approach 1:
The patent segments the detection function from the cushion structure by placing the sensor on the outer surface rather than integrating it underneath. This segmentation allows the cushion to perform its shock absorption function while the sensor independently detects contact forces, preventing the cushion from absorbing the impact force that the sensor needs to detect
4Ease of operation
If proximity sensor is provided on the end effector, then contact work detection is enabled, but sensor operates before contacting target causing work interruption
Solution Approach 1:
The patent applies local quality by providing detection electrodes at specific locations on the end effector's outer surface where they will make contact with the target during normal operation. This ensures that detection occurs only at the precise moment of contact rather than prematurely, maintaining work continuity while enabling contact detection
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
This configuration enhances the safety and accuracy of proximity and contact detection in industrial robots, allowing for reliable collision avoidance without hindering contact work and improving the robot's ability to operate safely with people.
Implementation Method 1
a sensor which detects approach of or contact with another object and includes a detection electrode portion formed on an outer surface or an inner surface of an exterior member of a movable device
Data Source
AI summary
A robot includes a sensor including an electrode portion of a sensor for detecting approach of or contact with another object is formed on an outer surface or an inner surface of an exterior member, and in which a drive unit of the robot main body is controlled so as to avoid approach between the robot body and the other object based on an output signal of the sensor.