Robot Motion Program Correction for Voltage Drop Prevention
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Solution Overview
Problem
Robots experience positional errors and stop due to excessive voltage drops during high-speed or high-torque operations, leading to alarms and decreased production efficiency in manufacturing lines.
Innovation Solution
A program generation device and robot controller that calculate and mitigate drive current and voltage drops by simulating and correcting robot motions to prevent alarms, using threshold values and impedance adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a large drive current is applied to the motor for high-speed or high-torque operations, then the robot can perform rapid acceleration and transportation of heavy objects, but the voltage supplied to the motor momentarily drops due to impedance, causing positional errors and control system alarms
Solution Approach 1:
The system performs preliminary calculation of voltage drops before executing the motion program. By calculating the drive current required for each motion and predicting the resulting voltage drop in advance, the system can identify problematic motions before they cause positional errors or alarms, allowing for preventive correction of the motion program
Solution Approach 2:
The system uses feedback from voltage measurements during motor operation to detect actual voltage drops. This feedback information is used to verify whether the calculated voltage drops match actual conditions, enabling continuous monitoring and correction to maintain positional accuracy during high-power operations
2Productivity
If the robot operates with high acceleration and heavy load, then productivity is improved, but voltage drop exceeds threshold causing the robot to stop and output alarm
Solution Approach 1:
The system calculates and identifies motions that will cause excessive voltage drops before executing the robot program. By performing this analysis in advance, the system can modify the motion program to prevent alarms and stoppages, ensuring continuous operation while maintaining high productivity through optimized motion planning
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Prevents robot stoppages by identifying and correcting motions causing voltage drops, ensuring stable robot operation and improved production efficiency.
Implementation Method 1
a voltage measurement unit configured to measure a value of a voltage at an inlet, an outlet or an inside of the robot controller
Implementation Method 2
calculate an amount of instantaneous drop voltage in an electric circuit between the motor and a facility power supply for supplying a current to the motor, based on the value of the drive current calculated by the current calculation unit and a configuration of the electric circuit
Data Source
AI summary
The present invention provides: a program generation device provided with a function to identify a robot movement causing an inconvenient voltage drop and present a movement for easing said robot movement or automatically ease said robot movement; and a robot control device. This program generation device comprises: an electric current calculation unit which calculates the value of a driving electric current to be supplied to a motor in order to cause a robot to operate in accordance with a movement program; a drop voltage calculation unit which calculates an amount of instantaneous drop voltage in an electric circuit between the motor and an equipment power supply for supplying an electric current to the motor, on the basis of the calculated value of the driving electric current and the configuration of the electric circuit; a comparison unit which compares the calculated amount of instantaneous drop voltage with a predetermined first threshold value; and an output unit which outputs a target movement or an easing movement in the case where the amount of instantaneous drop voltage has exceeded the first threshold value and/or a correction unit which corrects a target movement to an easing movement in the movement program.