Robot Control Apparatus Block-Based Power Failure Recovery
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Solution Overview
Problem
Industrial robots face complications and prolonged downtime due to the need for complex recovery programs and time-consuming resets after a main power supply failure, as they must consider various postures and workpiece positions, leading to reduced production throughput.
Innovation Solution
A robot controlling apparatus that divides operations into blocks, allowing the robot to continue using an auxiliary power supply until the current block is finished, then stops until the main power supply is restored, enabling quick resumption of operations from the next block without returning to the initial posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot body returns to its initial posture after power restoration, then the robot can resume operation, but it takes time and reduces productivity
Solution Approach 1:
The robot control device executes a recovery program that automatically returns the robot body to its initial posture after power restoration. This preliminary action prepares the robot for resumption of operation without requiring operator intervention, thus improving reliability while minimizing downtime impact on productivity
2Adaptability or versatility
If multiple recovery programs are prepared for various robot postures and workpiece positions, then the robot can handle diverse circumstances, but the device complexity increases
Solution Approach 1:
The recovery program is segmented into multiple subroutines, each handling a specific operation block. The control device selectively executes only the necessary subroutine based on which operation block was interrupted, rather than preparing and storing complete recovery programs for all possible postures and workpiece positions. This segmentation reduces the overall complexity while maintaining adaptability to diverse circumstances
3Reliability
If the robot body continues operation using auxiliary power supply until the current operation block is finished, then the robot can complete the current task, but energy consumption increases
Solution Approach 1:
The robot control device allows the robot body to continue operation using the auxiliary power supply only until the current operation block is finished, rather than immediately stopping or requiring full power restoration. This partial continuation ensures reliable completion of the current task while limiting auxiliary power consumption to the minimum necessary duration
Data Source
AI summary
To allow a robot body to quickly resume operation, using simple control, when a main power supply is restored after a failure. A calculation unit divides a series of operations of the robot body into a plurality of operation blocks in advance and causes the robot body to perform operations sequentially from one operation block to another using power supplied from the main power supply (S21 to S25). The calculation unit causes the robot body to continue operation using the power supplied from an auxiliary power supply, even if the main power supply fails, until the operation block being processed at the time of the failure of the main power supply out of the plurality of operation blocks is finished (S27). The calculation unit causes the robot body to stop operation, when the operation block being processed at the time of the failure of the main power supply is finished, until the main power supply is restored from the failure (S28). When the main power supply is restored from the failure, the calculation unit causes the robot body to resume operation beginning with an operation block next to the operation block caused by the calculation unit to be performed by the robot body in the process of step S27 (S30, S31, and S22).