Robot Program Modification for Safe Power Cutoff
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Solution Overview
Problem
Conventional motion range setting devices for robots fail to prevent interference with peripheral equipment by not adequately accounting for the stop position of a robot during power cutoff, leading to potential collisions due to coasting distances.
Innovation Solution
A robot program modification device that estimates the stop position based on movement speed, determines if it falls outside a predetermined region, and modifies the set speed in the operation program to reduce the movement speed at that position, thereby preventing collisions without altering the taught motion range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates at high speed to improve productivity, then the production efficiency increases, but the robot may stop outside the safe region during power cutoff due to coasting distance, causing interference with peripheral equipment
Solution Approach 1:
The system performs preliminary estimation of the stop position based on current movement speed and coasting distance calculations before power cutoff occurs. The stop position estimation unit calculates where the robot will stop if power is cut off, allowing preventive speed modification before the actual stopping event happens.
Solution Approach 2:
The system dynamically modifies the movement speed parameter in the operation program based on the estimated stop position. When the estimated stop position falls outside the safe region, the speed modification unit adjusts the speed parameter to ensure the robot stops within the predetermined safe region, thus preventing interference with peripheral equipment.
2Reliability
If the robot movement speed is reduced to prevent stopping outside the safe region, then safety is improved, but the production efficiency decreases
Solution Approach 1:
The system applies speed modification locally only at specific operation positions where the estimated stop position would fall outside the safe region. The speed modification unit identifies specific teaching points or operation positions that require speed adjustment, rather than uniformly reducing speed across the entire operation program, thus minimizing the impact on overall productivity.
Solution Approach 2:
The system uses feedback from the stop position estimation to dynamically adjust the movement speed. The estimated stop position serves as feedback information that triggers speed modification only when necessary, creating a closed-loop control system that balances safety and efficiency based on real-time calculations.
3Reliability
If the motion range is adjusted to prevent interference with peripheral equipment, then safety is improved, but the robot cannot complete the intended operation program
Solution Approach 1:
The system takes preliminary anti-action by modifying the speed parameter before the robot executes the operation program. By pre-calculating the stop position and adjusting the speed in advance, the system prevents the robot from stopping outside the safe region without altering the original motion range or teaching points, thus maintaining both safety and operation program integrity.
Data Source
AI summary
A robot program modification device including a program storage unit that stores an operation program for a robot, a program execution unit that executes the stored operation program, a stop position estimation unit that estimates, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot, a stop position determination unit that determines whether the estimated stop position is in a predetermined region or not, and a speed modification unit that modifies, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced.