Robot

Patent metadata

Field	Value
Publication number	US-10618169-B2
Application number	US-201514809694-A
Country	US
Kind code	B2
Filing date	Jul 27, 2015
Priority date	Jan 27, 2015
Publication date	Apr 14, 2020
Grant date	Apr 14, 2020

Abstract

A robot repeats successive works for each process point. A controller stores, in a storage, control data that arrays therein structural point blocks each bundling the successive works for each process point. The structural point block arrays therein point statements 8 indicating details of the successive works. A debugger executes step-over which sequentially executes the control data in a unit of structural point block, and which aborts the execution.

First claim

What is claimed is:

1. A robot repeating successive works for each process point, the robot comprising:
a work tool performing a main work on each process point in the successive works;
a moving unit moving the work tool in the successive works;
a controller controlling the work tool and the moving unit;
a storage storing control data having entire point statements that form successive works for a process point, the control data having a plurality of structural point blocks, each structural point block bundling the successive works for each process point; and
a debugger, the debugger subdividing the control data into the structural point blocks, executing the entire point statements of each structural point block without aborting therein, and aborting the execution of the controlling data each time when the execution of the entire point statements of each structural point block completes, thereby intermittently executing the plurality of structural point blocks so as to intermittently operate the moving unit and the work tool process-point by process-point,
wherein, in responding to the debugger, the controller automatically stops the successive work together with suspension of operation of the robot.

2. The robot according to claim 1 , wherein:
the successive works includes the main work by the work tool, a pre-process work and a post-process work before and after the main work, and positioning to a plurality of points for the main work; and
the structural point block records data representing a work in the successive works and details of movement.

3. The robot according to claim 2 , wherein:
the structural point block arrays therein point statements, the point statements each being data indicating all points for positioning during a set of the successive works and details of a work before, after, or during movement to the point; and
the debugger sequentially executes all point statements contained in the structural point block, and aborts the sequential execution of the control data.

4. The robot according to claim 2 , wherein:
the structural point block arrays therein:
a point statement that is data indicating all points for positioning during a set of the successive works; and
a work statement that is data indicating all works to be executed before, after, or during movement in the set of the successive works, and
the debugger sequentially executes all point statement and work statement contained in the structural point block, and aborts the sequential execution of the control data.

5. The robot according to claim 1 , further comprising a console device that accepts a user's operation,
wherein the debugger comprises:
a step-over executer sequentially executing the control data in a unit of the structural point block and aborting in accordance with a selection of step-over execution through the console device; and
a step-in executer aligning an execution position with a header of contents of the structural point block and aborting in accordance with a selection of step-in execution through the console device, and intermittently executing statement by statement in response to a restart instruction given through the console device, and aborting the execution.

6. The robot according to claim 5 , wherein the debugger further comprises a step-out executer sequentially executing all remaining statements in the structural point block in accordance with a selection of step-out execution through the console device after the selection of the step-in execution, stepping out from the structural point block, and aborting the execution.

7. The robot according to claim 1 , wherein:
the control data records the nested structural point block; and
the debugger comprises:
a nesting step-over executer sequentially executing all contents of the nested structural point block; and
a nesting step-in executer intermittently executing the contents of the nested structural point block statement by statement.

8. The robot according to claim 7 , wherein the debugger further comprises a nesting step-out executer sequentially executing all remaining statements in the nested structural point block, stepping out from the nested structural point block, and aborting the execution.

9. The robot according to claim 1 , further comprising a display displaying a tree view of a structure of the control data.

10. The robot according to claim 1 , wherein:
the debugger executes an initial process before referring to the point statements in the structural point blocks, and executes a last process after referring to the point statements in the structural point blocks; all of the structural point blocks record:
an initial statement which is a single or plural sentences that are an instruction set or a call instruction thereof indicating details of the initial process; and
a last statement which is a single or plural sentences that are an instruction set or a call instruction thereof indicating details of the last process;
the controller ignores the initial statement and the last statement in the structural point blocks; and
the debugger executes the initial statement and the last statement in the structural point blocks,
wherein, in responding to the debugger, the controller automatically stops the successive work together with suspension of operation of the robot.

Assignees

• Janome Sewing Machine Co Ltd

Inventors

• Hiruma Kenichiro

Classifications

• Y10S901/41

  Tool · CPC title

• G05B2219/33297

  Diagnostic, test, debug · CPC title

• G05B19/4155

  characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program · CPC title

• Y10S901/49

  Protective device · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title