Teach Pendant Tilt Sensor for Robot Posture Correction
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Solution Overview
Problem
Current robot systems face challenges in accurately correcting the position and posture of articulated robots and in preventing contact between robots and operators, as they rely on complex calculations and force sensors that may not provide reliable real-time feedback for precise control.
Innovation Solution
A teach pendant equipped with a tilt sensor and a measurement reference surface or protrusions that comes into contact with the robot, allowing for real-time detection of tilt angles and force distribution, which are then transmitted to the robot control device for precise control and surface contact detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex calculations using Newton-Euler method are used to correct robot position and posture, then correction accuracy is improved, but device complexity and calculation time increase
Solution Approach 1:
The patent replaces complex mechanical calculation systems (Newton-Euler method) with a sensor-based measurement system. A tilt sensor directly measures the actual tilt angle of the robot, and this measurement value is fed back to the control device to simplify the control calculations while maintaining correction accuracy.
Solution Approach 2:
The patent implements a feedback mechanism where the tilt sensor continuously measures the robot's actual tilt angle, and this measurement value is fed back to the control device. The control device compares the measured value with the target value and adjusts the robot's position and posture accordingly, enabling real-time correction without complex forward calculations.
2Object-affected harmful factors
If force sensors are used to detect contact between robot and operator, then safety is improved, but measurement precision and reliability of real-time feedback decrease
Solution Approach 1:
The patent replaces force sensors with a tilt sensor-based measurement system. Instead of directly measuring contact force, the system measures the robot's tilt angle and calculates the contact state from this measurement, improving measurement precision and reliability of real-time feedback while maintaining safety monitoring capability.
3Measurement precision
If tilt sensor with measurement reference surface is used for real-time tilt detection, then measurement precision is improved, but ease of operation decreases due to precise contact requirement
Solution Approach 1:
The patent divides the measurement reference function into two parts: a measurement reference surface (or protrusions) on the teach pendant and a corresponding measured surface on the robot. This segmentation allows the tilt sensor to measure relative tilt between two surfaces, improving measurement precision while simplifying operation through intuitive surface contact.
Solution Approach 2:
The measurement reference surface acts as an intermediary between the tilt sensor and the robot. By contacting the robot's measured surface, it transfers the robot's tilt information to the tilt sensor, enabling accurate measurement without requiring complex mounting or alignment procedures.
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 and efficient input of tilt measurement results to the robot control device, improving the precision of robot operation and reducing the risk of contact with operators by providing reliable real-time feedback.
Implementation Method 1
a tilt sensor whose position is fixed with respect to the measurement reference surface
Data Source
AI summary
A teach pendant includes an input unit and allowing teaching of operation of a robot by an input to the input unit, the teach pendant further includes a measurement reference surface which comes into surface contact with a measured surface of the robot, a tilt sensor whose position is fixed with respect to the measurement reference surface, and an output means which outputs a detection value of the tilt sensor to a control device of the robot in a state where the measurement reference surface is in surface contact with the measured surface and when a predetermined input operation is performed on the input unit or a contact detection sensor for detecting surface contact between the measurement reference surface and the measured surface detects the surface contact.