Robot Workpiece Holder Swing Joint to Prevent False Torque Stops
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Solution Overview
Problem
Existing workpiece transferring tools using robots often experience reduced operation efficiency and frequent accidental stops due to torque detection errors from torque sensors, particularly when transferring heavy or inertia-affected workpieces, leading to inefficiencies and potential damage from external forces.
Innovation Solution
A workpiece transferring tool with a movable connection unit, such as a spherical bearing, that allows the workpiece holder to swing relative to the base, alleviating torque generated by external forces and reducing false torque detection, enabling efficient transfer and positioning of workpieces while preventing accidental robot stops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a rigid connection is used between the workpiece holder and the robot wrist, then the workpiece can be held securely, but torque detection errors occur when transferring heavy or inertia-affected workpieces, causing frequent accidental stops
Solution Approach 1:
The connection between the workpiece holder and robot wrist is changed from rigid to dynamic through the introduction of a movable connection unit with a spherical bearing. This allows the workpiece holder to swing and absorb external forces during workpiece transfer, preventing torque detection errors and accidental stops while maintaining secure workpiece holding.
Solution Approach 2:
A movable connection unit with a spherical bearing is introduced as an intermediary between the workpiece holder and the robot wrist. This intermediary component absorbs external forces and torques during workpiece transfer, preventing these forces from being transmitted to the robot wrist and causing false torque detection.
2Reliability
If a movable connection unit with spherical bearing is used to allow workpiece holder to swing, then torque detection errors are reduced, but the structure becomes more complex
Solution Approach 1:
The connection structure is made dynamic by incorporating a spherical bearing that allows the workpiece holder to swing freely in multiple directions. This dynamic capability enables the system to absorb external forces without complex control mechanisms, improving torque detection accuracy while adding only a single mechanical component.
3Strength
If the workpiece holder is made heavy to securely hold large workpieces, then holding capacity increases, but the robot requires larger acceleration forces, generating more external force and torque
Solution Approach 1:
The movable connection unit with spherical bearing acts as an intermediary that absorbs the external forces generated during acceleration of heavy workpieces. This prevents these forces from being transmitted to the robot wrist, allowing the use of heavier workpiece holders for increased holding capacity without proportionally increasing the robot's acceleration requirements.
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
The tool effectively reduces torque detected by the robot's torque sensors, preventing unnecessary stops and maintaining operation efficiency during workpiece transfer, even with larger accelerations or unexpected external forces, and allows for precise positioning using elastic urging means.
Implementation Method 1
a movable connection unit (4) connecting the workpiece holder (3) to the base (2) in a movable manner
Implementation Method 2
urging means made of an elastic body such as a spring may be provided
Data Source
AI summary
A workpiece transferring tool including a base mounted on a distal end of a wrist of a robot, a workpiece holder releasably holding a workpiece, and a movable connection unit connecting the workpiece holder to the base so that the workpiece holder is displaceable in an escape direction of an external force acting on the workpiece. This can prevent an excessively large external force from acting on the robot due to the workpiece and can prevent frequent accidental stop of the robot.