Industrial Robot Program Code Selection by Position
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Solution Overview
Problem
Industrial robots face challenges in quickly and intuitively resuming tasks after a stop in production or during teaching, as current methods require manual intervention through a Teach Pendant Unit (TPU) or Human-Machine Interface (HMI), which are slow and unintuitive, especially in collaborative environments.
Innovation Solution
The robot automatically selects which part of the program code to execute based on its current position, allowing users to switch tasks by moving the robot to predefined locations, eliminating the need for manual program code entry or TPU/HMI use, with execution initiated upon user approval.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual intervention through TPU or HMI is used to switch programs and select tasks, then the robot can be controlled to execute specific program code, but the process becomes slow and unintuitive
Solution Approach 1:
The robot system automatically determines which program code to execute by monitoring its own position within the program structure, eliminating the need for manual intervention through TPU or HMI. The control unit self-selects the next program segment based on positional information, making the system serve itself rather than requiring external control for task switching.
Solution Approach 2:
The patent replaces the mechanical/manual operation of using TPU or HMI interfaces with an automated electronic control mechanism. The control unit uses program counter values and position detection to automatically select and switch between program code segments, substituting manual mechanical interaction with automated electronic decision-making.
2Productivity
If the robot automatically selects program code based on position, then task resumption becomes faster and more intuitive, but the system complexity increases
Solution Approach 1:
The control unit performs multiple functions: it executes program code, monitors program counter values, detects robot position, determines segment boundaries, and automatically selects next program segments. By consolidating these diverse functions into a single control unit, the system achieves high productivity without proportionally increasing overall system complexity.
Solution Approach 2:
The patent introduces program segment boundaries as an intermediary concept that mediates between the robot's physical position and the program code structure. These boundaries act as reference points that the control unit uses to automatically determine which program segment to execute, simplifying the control logic while enabling fast task resumption.
3Ease of operation
If detailed program structure information is displayed on HMI for user selection, then users can precisely control program execution, but the interface becomes complex and requires extensive user knowledge
Solution Approach 1:
The patent extracts the complex program selection logic from the HMI interface and relocates it to the control unit's automated decision-making process. Instead of presenting users with complex program structures for manual selection, the system automatically extracts and executes the appropriate program segment based on position, eliminating the need for complex HMI displays while maintaining precise control.
Data Source
AI summary
An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.