Robot Arm Enable Switching to Prevent Unintended Activation
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Solution Overview
Problem
Existing robot systems face issues where non-target robots may be inadvertently actuated due to incorrect coupling of connectors or upper-level controller failures, leading to operational errors and malfunctions.
Innovation Solution
The proposed robot system incorporates a teaching device with a switch unit and motor operation control unit that allows operators to selectively enable or disable motor operation based on a setting, independent of instruction signals, using a daisy chain configuration and enable valid/invalid switches to prevent unintended robot activation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the connector of the pendant is coupled to the connector of the robot that is not an operation target by mistake or when the upper-level controller has a failure, then the robot that is not an operation target may be actuated, but this causes operational errors and malfunctions
Solution Approach 1:
The patent introduces an intermediary switch unit between the instruction signal and the motor operation control. This switch unit acts as a mediator that can block or allow the transmission of activation signals. When the switch unit is in the off state, it prevents any instruction signal from reaching the motor operation control, thereby blocking unintended robot activation while still allowing the system to be operated when the switch is on.
Solution Approach 2:
The patent applies preliminary anti-action by implementing a switch unit that is configured to block motor activation before an unintended operation can occur. The switch unit is set to the off state as a preliminary protective measure, preventing any potential harmful activation from reaching the motor operation control, thus countering the potential error before it can affect the system.
2Reliability
If a switch unit is added to control motor operation independently of instruction signals, then operational safety is improved, but device complexity increases
Solution Approach 1:
The patent segments the control function by separating the motor operation control into distinct functional blocks: the switch unit for safety control, the instruction signal receiver, and the motor operation control unit. This segmentation allows each component to have a specific, simple function, making the overall system easier to understand and maintain despite the added safety layer.
Solution Approach 2:
The patent extracts the safety control function from the main control flow by implementing an independent switch unit that operates separately from the instruction signal processing. This extracted safety mechanism can function independently to block motor activation without interfering with the normal operation when properly configured, adding safety while maintaining operational simplicity.
Data Source
AI summary
A robot system includes: a plurality of robot arms having a motor; a plurality of controllers controlling the robot arms; and a teaching device designating the controller and transmitting an instruction signal thereto. The controller includes: a control unit controlling an operation of the robot arm; a motor operation control unit controlling whether to operate the motor or not; a first connector and a second connector for coupling a wiring electrically coupling to the teaching device; and a first enable valid/invalid switch setting whether to operate the motor or not. The motor operation control unit controls the operation of the motor, based on the setting by the first enable valid/valid switch about whether to operate the motor or not, regardless of the instruction signal.