Offline Robot Teaching Updates for Welded Workpiece Displacement
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Solution Overview
Problem
Existing robot control systems face challenges in efficiently modifying teaching points of teaching programs for different operations using the same robot, particularly due to position displacement of workpieces, which requires manual intervention and is time-consuming.
Innovation Solution
A robot control device and offline teaching system that acquire information on workpiece positions, calculate position displacement amounts, modify teaching points in multiple teaching programs based on these calculations, and control the robot using the modified programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual modification of teaching points is performed for each position displacement, then teaching precision can be maintained, but productivity decreases due to time-consuming operations
Solution Approach 1:
The system merges the modification process across multiple teaching programs by calculating position displacement once and applying it uniformly to all affected programs. This combines what would otherwise be separate manual modification tasks into a single automated operation, resolving the contradiction between maintaining precision and improving productivity.
Solution Approach 2:
The system changes the parameter application method from individual point-by-point manual adjustment to bulk parameter update using calculated displacement values. By extracting position displacement as a reusable parameter and applying it across multiple teaching programs simultaneously, the system maintains teaching point precision while dramatically improving modification efficiency.
2Reliability
If multiple teaching programs are manually adjusted for workpiece position changes, then operational accuracy is maintained, but loss of time increases
Solution Approach 1:
The system performs preliminary calculation of position displacement before applying modifications to multiple teaching programs. By pre-calculating the displacement parameters based on workpiece position changes and then automatically applying them to all affected programs, the system maintains operation accuracy while minimizing the time loss associated with manual adjustments.
Solution Approach 2:
The system creates and applies displacement parameter copies across multiple teaching programs. Instead of manually adjusting each program individually, the calculated position displacement is copied and applied uniformly to all teaching programs that reference the affected workpiece positions, maintaining accuracy while dramatically reducing adjustment time.
3Productivity
If automated position calculation is implemented across multiple teaching programs, then productivity improves, but device complexity increases
Solution Approach 1:
The control device is designed with universal functionality to handle multiple teaching programs simultaneously. The position calculation and modification system serves multiple purposes: it calculates displacements, applies them across different programs, and maintains consistency throughout the system. This multi-functionality improves productivity while managing complexity through unified design rather than separate systems for each program.
Data Source
AI summary
A robot control device includes an acquisition unit configured to acquire information related to a position of a workpiece produced by welding, a storage unit configured to store a set position of the workpiece with a robot configured to perform the production as a reference, a calculation unit configured to calculate a position displacement amount of the workpiece based on the set position of the workpiece and an actual measured position of the workpiece based on the information related to the position of the workpiece, a modification unit configured to modify positions of teaching points of a plurality of teaching programs used by the robot in the production based on the position displacement amount of the workpiece, and a control unit configured to control the robot by using the plurality of modified teaching programs.