Transfer Robot Approach-Point Programming for Easier Teaching
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Solution Overview
Problem
In workpiece processing systems, the complexity of the moving path for robots requires extensive operator intervention during teaching operations, increasing the number of operations needed, especially when the path is complicated.
Innovation Solution
A workpiece processing system that includes a control device with an approach point setter, a first program generator, and a controller to define the robot's operation from an operational zero point to an approach point, ensuring no interference without the need for conventional teaching, by setting the approach point based on a non-interference region and standardized device sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a teaching operation is performed to store the moving path for the transfer robot, then the robot can transfer workpieces without contact with peripheral members, but the number of operator operations increases significantly
Solution Approach 1:
The approach point setter automatically determines the approach point before the teaching operation, establishing a safe starting position in advance. This preliminary action eliminates the need for operators to manually set this point during teaching, reducing operations while ensuring reliable interference-free transfer paths
Solution Approach 2:
The system performs self-configuration by automatically calculating approach points based on device positions and robot parameters. The control device generates the first program defining the path from operational zero point to approach point without operator intervention, allowing the system to serve itself in the setup phase
2Adaptability or versatility
If the moving path for the robot is complicated, then the robot can navigate complex workpiece processing sequences, but the number of operator operations in teaching increases
Solution Approach 1:
The teaching process is segmented into two distinct programs: the first program automatically defines the path from operational zero point to approach point, while the second program handles the remaining teaching based on approach points. This segmentation allows complex paths to be managed systematically, reducing operator burden on the more complex portions
Solution Approach 2:
The approach point acts as an intermediary position between the operational zero point and the final teaching points. By introducing this intermediate reference point, the system simplifies the teaching process for complex paths, as the robot learns to reliably reach this mediator point before completing the full transfer sequence
Data Source
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Figure 3(a)~3(c)
AI summary
A workpiece processing system (1) includes a transfer robot (3), a control device (4) controlling operation of the transfer robot (3), and an operating part (5) performing a teaching operation to the transfer robot (3). The control device (4) has an approach point setter (6) setting in advance an approach point as a reference point for the transfer robot (3) to start operation to a workpiece processing device, a first program generator (7) generating a first program defining the operation of the transfer robot (3) from an operational zero point for the transfer robot (3) to the approach point, a second program generator (8) generating a second program defining the operation of the transfer robot (3) after the approach point based on the teaching operation, and a robot controller (9) controlling the operation of the transfer robot (3) in accordance with the first program and the second program.