Articulated Robot Teaching Control with Pulse Generator and Servo Stop

Solution Overview

Problem

Conventional teaching methods for articulated robots are inefficient and imprecise, especially when dealing with heavy arm sections, as they require manual movement or frequent switch activation, leading to strain and potential collisions during precise positioning.

Innovation Solution

An articulated robot system that allows selection among multiple teaching actions within a single process, utilizing a manual pulse generator, switch operation, and manual movement, with control means to stop servo motors upon contact to prevent strain and ensure precise positioning.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual movement method is used to teach heavy arm section, then positioning precision can be achieved, but operator effort and time consumption increase significantly

Engineering Contradiction:

Improvepositioning precisionVSAvoidteaching time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system dynamically switches between three teaching modes (manual movement, switch operation, pulse generator) based on the specific teaching requirements. The control unit enables operators to select the most appropriate mode for each teaching scenario, allowing the system to adapt its teaching methodology rather than being fixed in one approach.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The teaching device integrates three different teaching methods into a single unified system. The operating panel includes switches for different axes, a pulse generator for precise positioning, and manual movement capability, all controlled through a single interface that can handle various teaching scenarios with one device.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Ease of operation

If switch operation method is used to move arm section, then ease of operation improves, but positioning precision deteriorates due to frequent on/off switching

Engineering Contradiction:

Improveease of teaching operationVSAvoidpositioning precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The system dynamically switches between three teaching modes (manual movement, switch operation, pulse generator) based on the specific teaching requirements. The control unit enables operators to select the most appropriate mode for each teaching scenario, allowing the system to adapt its teaching methodology rather than being fixed in one approach.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The pulse generator acts as an intermediary device between the switch operation and the arm section movement. It provides a middle ground that requires less frequent switching than direct switch operation but offers better precision than manual movement, reducing both operator effort and positioning errors.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Measurement precision

If pulse generator method is used to control arm section movement, then positioning precision improves, but device complexity and difficulty of simultaneous control increase

Engineering Contradiction:

Improvepositioning precisionVSAvoidcontrol complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system dynamically switches between three teaching modes (manual movement, switch operation, pulse generator) based on the specific teaching requirements. The control unit enables operators to select the most appropriate mode for each teaching scenario, allowing the system to adapt its teaching methodology rather than being fixed in one approach.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control unit automatically manages the coordination of multiple articulations when pulse generator is used. Instead of requiring the operator to manually coordinate each articulation, the system self-manages the simultaneous control, reducing the operational complexity while maintaining precision.

Inventive Principle:

Principle #25Self-service

4Device complexity

If fixed teaching action is used in conventional methods, then simplicity is maintained, but adaptability to different teaching scenarios deteriorates

Engineering Contradiction:

Improveteaching system simplicityVSAvoidadaptability to teaching scenarios

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The system dynamically switches between three teaching modes (manual movement, switch operation, pulse generator) based on the specific teaching requirements. The control unit enables operators to select the most appropriate mode for each teaching scenario, allowing the system to adapt its teaching methodology rather than being fixed in one approach.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The teaching device integrates three different teaching methods into a single unified system. The operating panel includes switches for different axes, a pulse generator for precise positioning, and manual movement capability, all controlled through a single interface that can handle various teaching scenarios with one device.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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

Enables efficient, precise, and strain-free teaching of object positions by allowing flexible selection of teaching methods, reducing operator effort and preventing collisions, thus improving the accuracy and speed of teaching complex moving tracks.

Implementation Method 1

a manual pulse generator having a manually-operated rotary dial, the manual pulse generator generating pulses corresponding to a rotational angle of the rotary dial

Methodology Applied

Scientific EffectPulse generation:

Implementation Method 2

means for actuating the arms so as to move a front end of the arm section to an object position, which has been previously taught

Methodology Applied

Scientific EffectServo motor actuation:

Implementation Method 3

a current detector for detecting a current flowing through the servo motor

Methodology Applied

Scientific EffectCurrent detection:

Implementation Method 4

control means for stopping the servo motor when the current, which is detected by the current detector, exceeds a threshold value

Methodology Applied

Scientific EffectThreshold-based control:

Data Source

PatentUS7292913B2Articulated robot

Publication Date: 2007.11.06 KABUSHIKI KAISHA KOYAMA

AI summary

In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.