Robot Arm Control for Reverse Feeding Without Reprogramming
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Solution Overview
Problem
Existing workpiece operation devices with robot arms face challenges in efficiently executing reverse feeding processes, as they require complex programming and manual intervention to return to operation points, especially when processes cannot be reversed.
Innovation Solution
A control device that stores an operation order list and an operation type list, defined as pairs for forward and reverse feeding processes, allowing the control section to automatically control the operation execution section during both forward and reverse feeding processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot arm moves in reverse order to the retraction point, then the robot arm can return to the starting position, but complex programming is required for processes that cannot be executed in reverse order
Solution Approach 1:
The control device integrates both forward feeding and reverse feeding control capabilities into a single system. The memory section stores operation order lists that can be executed in either forward or reverse direction, and the control section automatically adapts the operation types based on the feeding direction. This universal design eliminates the need for separate complex programming for reverse processes, as the same device handles both directions with automatic adaptation of operation types.
Solution Approach 2:
The system enables reverse feeding by inverting the execution order of operations. When reverse feeding is required, the control section reads the stored operation order list in reverse sequence and automatically selects the appropriate operation type from pairs stored in the memory section. This inversion approach allows the robot arm to return to the retraction point by executing operations in reverse order, while the system automatically handles the complexity of direction-dependent operations.
2Ease of operation
If separate programming is created for reverse feeding process, then the reverse feeding can be executed, but the process becomes complicated and time-consuming
Solution Approach 1:
The memory section pre-stores operation type lists containing paired operation types for both forward and reverse feeding processes. Before reverse feeding is actually needed, the system has already prepared the necessary operation type mappings. When reverse feeding is initiated, the control section simply retrieves the appropriate operation types from the pre-stored list, eliminating the need for time-consuming separate programming and making reverse feeding execution straightforward.
3Productivity
If the operation order list stores only forward feeding operations, then the forward process is simple, but the reverse feeding process requires additional countermeasures
Solution Approach 1:
The system merges forward and reverse feeding operation types into a single operation type list stored in the memory section. Each operation type entry contains paired information for both forward and reverse directions. This merging approach maintains simple forward feeding operations while eliminating the need for separate reverse feeding countermeasures, as the reverse feeding capability is integrated into the same data structure and control logic.
Data Source
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AI summary
A control device is a device used in a workpiece operation device includ ing an operation execution section configured to execute a predetermined operation on a workpiece by moving an operation member configured to execute the predetermined operation on the workpiece. A control device includes: a memory section configured to store an operation order list, including an operation type and an operation position of the operation execution section, which is related to an operation order of the operation type, and an operation type list defined as a pair of an operation type at a time of a forward feeding process and an operation type at a time of a reverse feeding process; and a control section configured to control the operation execution section at the time of the forward feeding process based on an order on the operation order list and the operation type at the time of the forward feeding process in the operation type list, and control the operation execution section at the time of the reverse feeding process based on a reverse order on the operation order list and the operation type at the time of the reverse feeding process in the operation type list.