Robot Wrist Wire Body Angle Monitoring
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Solution Overview
Problem
Industrial robots with wire bodies connected to end effectors face damage due to excessive bending and twisting, which existing technologies do not adequately address, leading to reduced lifespan and increased maintenance needs.
Innovation Solution
A robot system with a 3-axis wrist unit and a control device that calculates angles and distances of wire paths to determine if they exceed predetermined thresholds, allowing for real-time monitoring and adjustment to prevent damage, thereby stabilizing the wire body's life and reducing maintenance frequency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the wire body is given sufficient extra length to absorb bending and twisting, then damage to the wire body is reduced, but the wire body becomes more prone to excessive bending and twisting that exceeds absorption capacity
Solution Approach 1:
The control device calculates the angle of the wire body in advance before robot operation and determines whether it exceeds the predetermined angle threshold. This preliminary assessment prevents excessive bending and twisting by identifying unsafe configurations before they occur, allowing preventive action to be taken.
Solution Approach 2:
The control device continuously monitors the wire body angle during robot operation and provides feedback when the angle approaches or exceeds the threshold. This feedback mechanism enables real-time adjustment of robot movement to prevent damage to the wire body while maintaining operational flexibility.
2Strength
If the wire body is routed through the inside of the arm, then protection from external damage is improved, but bending and twisting during wrist operation causes internal stress and damage
Solution Approach 1:
The control device calculates the wire body angle and assesses potential stress conditions before executing robot movements. This preliminary evaluation allows the system to adjust operational parameters to prevent excessive internal stress in the internally routed wire body.
Solution Approach 2:
The control device changes operational parameters by limiting wrist rotation angles or adjusting movement trajectories when calculated wire body angles approach critical thresholds. This parameter adjustment reduces internal stress on the wire body while maintaining necessary robot functionality.
3Duration of action of moving object
If the wire body is taken out to the outside of the wrist, then extra length is provided to absorb movement, but the wire body becomes exposed to external damage and interference
Solution Approach 1:
The control device calculates and assesses wire body angles before robot operation, identifying configurations that would cause excessive bending or twisting. This preliminary action prevents damage by avoiding unsafe configurations rather than relying on passive absorption of stress.
Solution Approach 2:
The control device provides continuous feedback on wire body angle during operation and adjusts robot movement in real-time to prevent excessive stress. This active feedback control extends wire body lifespan by preventing both internal stress from internal routing and external damage from external routing.
Data Source
AI summary
A robot system including a robot body and a control device. The robot body includes wrist elements at a distal end of an arm; a wired wire body connected to an end effector fixed to the third wrist element. The control-device includes an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, angles of straight lines connecting the wire-body outlet and specific points of the wire body, with the straight lines projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute values of the angles calculated by the angle calculation unit have exceeded predetermined angle thresholds.