Robot End Effector Torque Release for Secure Workpiece Handover
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Solution Overview
Problem
Current robot systems face challenges in efficiently passing workpieces to humans without dropping them, while also aiming to reduce the takt time in such operations.
Innovation Solution
A robot apparatus with a robot arm and end effector that uses torque control to release a workpiece based on a predetermined direction, allowing a user to trigger the release by applying a specific torque, enabling secure handover without additional buttons or complex operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional button or sensor-based release control is used, then the release operation can be triggered, but the takt time is extended and the operation becomes more complex
Solution Approach 1:
The system uses the operator's natural handover action (applying torque to the workpiece) as the trigger signal for release, eliminating the need for separate buttons or sensors. The workpiece itself serves as the control interface, allowing the operator to release it by simply manipulating the workpiece during the handover motion.
Solution Approach 2:
The torque sensor acts as an intermediary that detects the operator's intent to release through the torque applied during normal handover motion, converting this mechanical interaction into a release command without requiring additional control elements.
2Ease of operation
If torque-based release control is implemented, then the takt time is shortened and operation is simplified, but the risk of unintended release may increase
Solution Approach 1:
The system monitors torque parameters in real-time and compares them against predetermined thresholds to distinguish between normal handover motions and intentional release actions, ensuring reliable discrimination between different operational states.
Solution Approach 2:
The torque sensor provides continuous feedback about the force applied to the workpiece, allowing the control system to monitor the handover process and determine the appropriate release moment based on the detected torque characteristics.
3Reliability
If additional release buttons or sensors are added, then the release control can be made more reliable, but the device complexity increases and takt time extends
Solution Approach 1:
The workpiece and the operator's handover motion serve as the control mechanism itself, eliminating the need for additional buttons or sensors. The natural torque applied during handover becomes the release trigger, simplifying the control mechanism while maintaining reliability.
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 solution ensures reliable and efficient transfer of workpieces by using torque-based control to determine when to release the workpiece, reducing the risk of dropping and shortening the takt time by utilizing the operator's action as a trigger for the release mechanism.
Implementation Method 1
a torque sensor that detects a torque applied to the end effector in a predetermined direction
Data Source
AI summary
A robot apparatus includes a robot arm, an end effector provided in the robot arm and configured to hold a workpiece, and a controller configured to perform a control process for controlling the end effector to release the workpiece on a basis of a first torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.