Automatic Tool Axis Alignment in Lead-Through Robot Programming
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Solution Overview
Problem
Industrial robot operators face difficulties in maintaining tool alignment with specified axes during lead-through programming, as manual activation of the alignment function is required for each target point, causing distractions and inefficiencies.
Innovation Solution
The method automatically adjusts the tool orientation to align with a specified axis when the robot movement stops, allowing the alignment function to be activated once and maintained until the robot starts moving again, eliminating the need for manual button activation and enabling seamless alignment with any linear axis, including vertical lines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual activation of alignment function is used for each target point, then tool alignment accuracy is maintained, but programming time increases and operator focus is disrupted
Solution Approach 1:
The alignment function is activated in advance and remains active throughout the programming session. The system prepares the alignment capability beforehand, so that when the robot stops at each target point, the alignment is automatically performed without requiring manual activation. This preliminary setup eliminates the repetitive manual button-clicking while maintaining alignment accuracy at each position.
Solution Approach 2:
The robot system automatically performs the alignment function itself without requiring continuous manual intervention. Once activated, the system serves itself by detecting when the robot stops and automatically aligning the tool with the specified axis, eliminating the need for the operator to repeatedly activate the alignment function manually.
2Measurement precision
If manual activation of alignment function is required for each target point, then alignment control is precise, but operator ease of operation deteriorates
Solution Approach 1:
The alignment function becomes self-activating by detecting the robot's stop state. The system monitors robot movement automatically and triggers alignment when stopping is detected, eliminating the need for manual activation and improving ease of operation while maintaining precise alignment control through automated execution.
Solution Approach 2:
The system continuously monitors the robot's movement state and uses this feedback to automatically trigger alignment when the robot stops. This closed-loop feedback mechanism ensures precise alignment control is maintained while eliminating manual intervention, thereby improving ease of operation.
3Measurement precision
If alignment function is activated manually each time, then alignment accuracy is ensured, but operational complexity increases
Solution Approach 1:
The alignment function automatically activates itself by detecting the robot's stop state, eliminating the need for manual button activation. This self-service mechanism reduces programming operation complexity from multiple manual steps to a single initial activation, while alignment accuracy is maintained through automated execution at each target point.
Solution Approach 2:
The alignment function is activated in advance and configured to run automatically throughout the programming session. This preliminary setup simplifies the overall operation by eliminating repetitive manual activation steps, reducing operational complexity while ensuring alignment accuracy is maintained at each position through automatic triggering.
Data Source
AI summary
An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.