3D Robot Teaching for Polishing and Coating Path Generation
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Solution Overview
Problem
Conventional automatic polishing methods require extensive time and effort from specialist technicians to teach robots, making automation difficult when dealing with a variety of small but diverse processing objects.
Innovation Solution
An automatic teaching system that includes a three-dimensional shape measurement apparatus, a reference marker, and an image analysis apparatus to acquire and process shape data, automatically generating operation paths for a polishing or coating robot, reducing the need for manual teaching and enabling efficient handling of varied objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a polishing robot is taught operation contents beforehand by a specialist technician, then the robot can perform polishing operations accurately, but teaching takes much time and effort when the variety of polishing objects is extensive
Solution Approach 1:
The system enables the robot to automatically generate its own operation program by acquiring 3D shape data of the processing object and autonomously determining the operation path and parameters, eliminating the need for manual teaching by specialists while maintaining operational accuracy
Solution Approach 2:
The manual teaching process is replaced by an automated system that uses 3D shape measurement and image analysis to generate operation programs, substituting the mechanical process of manual programming with an automated computational approach
2Extent of automation
If manual teaching is used for each polishing object, then the robot can be precisely programmed, but introducing automation is difficult when dealing with a small but varied number of processing objects
Solution Approach 1:
The system uses a universal 3D shape measurement approach that can handle various types of processing objects regardless of their specific geometry or material, allowing the same automated teaching process to be applied across diverse objects without requiring object-specific customization
Solution Approach 2:
The system automatically adapts operation parameters based on the acquired 3D shape data of each object, changing parameters such as operation path, speed, and polishing pressure according to the specific geometric characteristics of each processing object
Data Source
AI summary
Provided is an automatic teaching system that is readily able to achieve automation, even when a small but varied number of processing objects are to undergo polishing or coating. The automatic teaching system includes a three-dimensional shape measurement apparatus, a reference marker, an image analysis apparatus, and a robot control device. The three-dimensional shape measurement apparatus acquires shape data of a processing target region on a processing object relative to the reference marker, and the image analysis apparatus divides the shape data of the processing target region into a plurality of continuous reference surfaces, in accordance with a predetermined algorithm, automatically generates a program of an operation path along which a polishing apparatus or coating apparatus of the robot is to be operated, for every reference surface, in accordance with a predetermined operation path generation rule, and transmits the program of the operation path to the robot control device.