US 11,986,965 B2
Method and system for continuously storing and later for visually representing internal operating states of a robot
Johann Rella, Payerbach (AT); and Peter Michael Wittmann, Leobendorf (AT)
Assigned to Wittmann Kunststoffgeräte GmbH, Vienna (AT)
Appl. No. 17/057,311
Filed by Wittmann Kunststoffgeräte GmbH, Vienna (AT)
PCT Filed Jun. 24, 2019, PCT No. PCT/AT2019/060208
§ 371(c)(1), (2) Date Nov. 20, 2020,
PCT Pub. No. WO2020/000007, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. A50537/2018 (AT), filed on Jun. 29, 2018.
Prior Publication US 2021/0316460 A1, Oct. 14, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/02 (2006.01); B29C 45/42 (2006.01); B29C 45/76 (2006.01)
CPC B25J 9/1674 (2013.01) [B25J 9/161 (2013.01); B25J 9/1671 (2013.01); B25J 9/1679 (2013.01); B25J 13/02 (2013.01); B29C 45/42 (2013.01); B29C 45/7626 (2013.01); B29C 2945/76795 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for the continuous storage of internal operating states and for the visualization of past sequences for a robot wherein the robot comprises a robot controller and is at least one of mounted on or next to an injection molding machine, the method comprising:
via the robot, removal, handling, manipulating or further processing of injection molded parts which have just been produced; and
via the robot controller:
storing data comprising at least changes in state of at least one of the robot, the injection molding machine or connected automation components, and
in an event of an occurrence of an error, linking most recently recorded information prior to the error and storing it,
wherein the changes in state up to the occurrence of the error are simulated on a virtual model of the robot for analysis and visually displayed on an output unit of the robot controller,
wherein the data is stored directly on the robot controller, and
wherein the virtual robot model is able to run movements of the robot at various speeds.