Motion Program Correction for Component Change in Robot Assembly

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Solution Overview

Problem

Existing methods require significant time and labor to generate new motion programs for robot devices when components in a product assembly operation change, due to differences in attributes such as shape and dimensions, necessitating manual reprogramming for each change.

Innovation Solution

A program generation apparatus that automatically identifies attribute differences between original and replacement components, corrects command values in existing motion programs, and generates new motion programs to accommodate these changes, including tool selection and reference point alignment, reducing manual intervention.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If manual reprogramming is performed for each component change, then the motion program can be accurately adapted to new components, but the time and labor required for reprogramming increases significantly

Engineering Contradiction:

Improveaccuracy of motion program adaptationVSAvoidreprogramming time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary actions by automatically detecting component changes and pre-calculating the necessary motion program adjustments before actual reprogramming is needed. The attribute comparison and command value correction are performed in advance based on component specification data, so when a component change occurs, the system can quickly generate an updated motion program without requiring time-consuming manual reprogramming.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system enables self-service by allowing the motion program to automatically adapt to component changes without human intervention. The attribute comparison unit detects changes between old and new components, the command value correction unit automatically adjusts the motion commands, and the system generates updated motion programs autonomously, eliminating the need for manual reprogramming while maintaining accuracy.

Inventive Principle:

Principle #25Self-service

2Reliability

If manual reprogramming is performed for each component change, then the motion program can be accurately adapted to new components, but the labor required for reprogramming increases significantly

Engineering Contradiction:

Improveaccuracy of motion program adaptationVSAvoidreprogramming effort

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system replaces the mechanical/manual reprogramming process with an automated information processing system. Instead of manually analyzing component differences and adjusting motion commands, the attribute comparison unit and command value correction unit perform these tasks automatically using computer-based algorithms, substituting human labor with automated computational processes.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If component attributes change (shape, dimensions), then the operational details must be changed to accommodate new components, but existing motion programs become unusable

Engineering Contradiction:

Improveaccommodation of component changesVSAvoidcomplexity of motion program modification

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system handles component attribute changes by automatically adjusting the parameters in the motion program. When component attributes such as shape or dimensions change, the attribute comparison unit detects these parameter changes, and the command value correction unit automatically modifies the corresponding motion program parameters to accommodate the new components, maintaining adaptability while managing complexity through automated parameter adjustment.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system performs preliminary analysis of attribute differences between components and pre-calculates the necessary parameter adjustments before the motion program needs to be executed. This preliminary action allows the system to prepare correction data in advance, making the adaptation process smoother and reducing the complexity of real-time modifications when component changes occur.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentEP4091776B1Program generation device, program generation method, and generation program

Publication Date: 2025.08.13 OMRON CORP

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AI summary

A program generation apparatus extracts, from a series of motions defined in a motion program, a motion to be corrected based on a difference in attribute between a first component indicated as a target of a component change and a second component to replace the first component, and generates a new motion program by correcting a command value of the extracted motion to compensate for the difference in the attribute. The structure reduces, for any change in at least one component included in a product, the time and labor to generate a new motion program usable in an assembly operation performed after a component change.