Off-line Programming System for Robot Tool Path Generation
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Solution Overview
Problem
Conventional off-line programming systems for robots require a large number of steps to determine the tool position or posture for working on a workpiece, especially when the workpiece has curved surfaces, making it difficult to prepare suitable working paths.
Innovation Solution
An off-line programming system that uses a virtual space to project operation patterns onto a workpiece model, allowing for automatic determination of the tool's position or posture by selecting and arranging three-dimensional shapes with curved or flat surfaces, and adjusting dimensions, pitch intervals, and directions to create a suitable working path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional teaching methods are used to determine tool position on workpiece surfaces, then complete coverage of the workpiece surface can be achieved, but the number of steps required becomes extremely large
Solution Approach 1:
The patent creates a virtual copy of the workpiece (virtual workpiece) that mirrors the actual workpiece geometry. By performing operations on this virtual copy rather than directly on the physical workpiece, the system can calculate tool positions and paths more efficiently. The virtual workpiece serves as a digital replica that allows for rapid iteration and calculation without the constraints of physical measurement and adjustment.
Solution Approach 2:
The patent replaces manual teaching methods with automated calculation systems. Instead of manually teaching robot positions by physically moving the robot and recording coordinates, the system uses a calculation unit to automatically compute tool center positions based on the virtual workpiece model and operation patterns. This substitution of mechanical teaching with computational methods dramatically reduces programming time while maintaining precision.
2Adaptability or versatility
If manual teaching points are used to define working paths, then the robot can be programmed to work the workpiece, but it becomes difficult to adapt to curved surfaces
Solution Approach 1:
The patent changes the fundamental parameters used to define working paths. Instead of using discrete teaching points with fixed coordinates, the system uses continuous geometric models (virtual workpiece) and operation patterns that can adapt to any surface geometry. By parameterizing the workpiece representation and allowing dynamic adjustment of operation patterns, the system achieves high adaptability to curved surfaces while keeping programming relatively simple.
Solution Approach 2:
The patent segments the workpiece surface into multiple operation patterns that can be independently defined and applied. Each operation pattern represents a specific working sequence that can be tailored to different surface regions. This segmentation allows the system to handle complex curved surfaces by breaking them down into manageable sections, each with its own optimized operation pattern, thereby reducing overall programming complexity.
3Manufacturing precision
If teaching points are densely distributed to cover the entire workpiece surface, then complete working coverage is achieved, but the number of teaching points becomes extremely large
Solution Approach 1:
The patent uses a virtual copy of the workpiece to represent the entire surface geometry, eliminating the need for dense teaching point distribution. The virtual workpiece model contains all the geometric information needed to calculate tool positions anywhere on the surface. This approach maintains complete surface coverage capability while reducing the number of discrete teaching points from potentially thousands to just the essential geometric definition points.
Solution Approach 2:
The patent replaces the mechanical system of physically placing and recording numerous teaching points with a computational system that calculates positions on demand. The calculation unit generates tool center positions dynamically based on the virtual workpiece model and desired operation patterns, eliminating the need to pre-definŠµ and store a large number of teaching points while maintaining complete surface coverage.
Data Source
AI summary
An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.