Dual End Effector Robot Teaching for Rotational Alignment Precision
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Solution Overview
Problem
The substrate holding apparatus in existing robot teaching methods experiences precision issues due to rattling in the driving mechanism, causing the rotational positions of the first and second end effectors to shift, leading to inaccurate operation of the second end effector.
Innovation Solution
A method involving a robotic arm with independently rotatable first and second end effectors, each with a driving source and position detector, a relative motion preventing device, and a storage unit to store and associate rotational position information, allowing for precise operation of the second end effector by generating a teaching point based on the first end effector's teaching point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a teaching point of the first end effector is used for operating the second end effector, then the operational efficiency is improved, but the manufacturing precision deteriorates due to rattling in the driving mechanism
Solution Approach 1:
The patent applies preliminary action by pre-establishing the correspondence relationship between the first end effector and second end effector through teaching operations. The robot controller stores the rotational position information of both end effectors at multiple teaching points before actual operation, creating a lookup table that enables direct translation of teaching points between end effectors without requiring real-time mechanical alignment, thus eliminating the precision loss from rattling while maintaining operational efficiency
2Device complexity
If the first end effector and second end effector are operated independently using the same teaching point, then the device complexity is reduced, but the measurement precision deteriorates due to rotational position shifts
Solution Approach 1:
The patent implements feedback by using rotational position detectors on both the first end effector and second end effector to continuously monitor their actual rotational positions. The robot controller compares the detected positions with the stored teaching point correspondence, and when deviations are detected (caused by rattling or positioning errors), the controller automatically compensates by adjusting the commanded positions, thereby maintaining measurement precision while allowing independent operation of both end effectors
Data Source
AI summary
A method of teaching a robot, the robot including a first and second end effector that are mounted to a robotic arm wrist, the first and second end effector being rotatable about a same rotational axis independently of each other. The method includes: a first step of, in a state where rotational positions of the first and second end effectors about the rotational axis coincide with each other, attaching a relative motion preventing device to the first and second end effector, the relative motion preventing device preventing the first and second end effector from moving relative to each other; and a fourth step of generating a teaching point of the second end effector based on: a teaching point of the first end effector; and rotational position information about the first and second end effector that are stored in a storage unit in association with each other in a third step.