EOAT Path Replay for Fast Robot Work Recovery
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Solution Overview
Problem
Existing methods for repairing and returning an End of Arm Tooling (EOAT) after an interruption in application processing work require human intervention, are time-consuming, and prone to errors such as collisions, especially when the EOAT is deeply embedded within a work region.
Innovation Solution
A robot system and operation method that uses a user program to trace the EOAT's path in reverse to exit the work region, repair it, and return to the error point, allowing for automated and efficient resumption of processing without human intervention or additional user programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If the EOAT is manually moved to a repair station after an interruption, then the EOAT can be repaired, but the process requires human resources and takes time
Solution Approach 1:
The robot system performs self-service by automatically returning the EOAT to the error position after repair without human intervention. The control device autonomously executes the return process by replaying recorded position data, eliminating the need for manual operation and reducing restoration time.
Solution Approach 2:
The system records the EOAT's position data during the forward movement before repair is needed. This preliminary recording of the path enables the automated return process to simply replay the stored positions, avoiding the need to recalculate or manually trace the path after repair.
2Ease of repair
If the EOAT is manually moved to a repair station, then the EOAT can be repaired, but the process is prone to mistakes such as collisions with obstacles
Solution Approach 1:
The control device uses feedback from the recorded position data to guide the EOAT's return movement. By continuously referencing the stored position sequence, the system ensures accurate trajectory following and avoids collisions with obstacles that would occur with manual operation.
Solution Approach 2:
The automated return process eliminates human operators from the restoration procedure, removing the source of manual errors and collisions. The system serves itself by autonomously navigating the EOAT back to the error position using pre-recorded path information.
3Ease of repair
If the EOAT exits the work region for repair, then the EOAT can be maintained, but time and effort are incurred to take the EOAT out and put it back
Solution Approach 1:
The system replaces manual mechanical operation with automated control. Instead of human operators physically moving the EOAT in and out of the work region, the control device automatically manages the entire process by replaying recorded position data, significantly improving restoration efficiency.
Solution Approach 2:
The path information is recorded in advance during the forward movement, so the return process requires only simple position replay rather than complex path planning or manual guidance. This preliminary action of recording positions dramatically reduces the time and effort needed for the return operation.
4Productivity
If the EOAT is deeply within a work region, then the application processing can proceed, but it becomes difficult or impossible to manually insert a repair tool
Solution Approach 1:
The robot system performs self-service by autonomously returning the EOAT to the error position after repair at an accessible location. This eliminates the need for manual intervention to reach deeply embedded EOATs, as the automated system can precisely navigate to any recorded position regardless of accessibility constraints.
Solution Approach 2:
The system transitions from physical manual access to digital position control. Instead of physically reaching into difficult-to-access areas with repair tools, the control device uses recorded position data to guide the EOAT's movement, effectively solving the accessibility problem through a different operational dimension (automated control vs. manual physical intervention).
Data Source
AI summary
The present invention addresses the issue of providing a robot system and a robot operation method whereby, even if an issue occurs with an EOAT (a tool attached to the tip of a robot arm) and repair is required during application processing work by a robot, that repair does not take a lot of time or effort, errors do not occur during restoration work, and the restoration can be conducted quickly. This issue is solved by the present invention being configured so as to enable application processing work to be resumed by a user program that had been interrupted, after: returning back along the path recorded during progress by the robot tool; causing the tool to exit the work region; removing the cause of the error; then moving forward again along the recorded tool path to return to the point at which the error occurred.