Robot Workpiece Alignment for Machining Chuck Installation
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Solution Overview
Problem
Existing methods for correcting the position and orientation of a workpiece in a machining device are inaccurate due to distortions in the workpiece shape and discrepancies in control speeds between the robot and the chuck mechanism, leading to potential failures and decreased machining accuracy.
Innovation Solution
A method for controlling a robot using a computer system that acquires operation information from both the robot and machining device, determines the need for position and orientation corrections based on this information, and executes precise correction processes to ensure accurate installation of the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot control speed is higher than the chuck mechanism opening/closing speed, then the robot can complete position and orientation correction faster, but the workpiece may be separated from the chuck mechanism claws before correct positioning is achieved
Solution Approach 1:
The system performs preliminary positioning adjustments of the workpiece before the chuck mechanism completes its closing action. By anticipating the timing relationship between robot correction speed and chuck closing speed, the robot makes advance positional adjustments to ensure the workpiece is correctly positioned before firm gripping occurs, preventing workpiece separation and ensuring reliable positioning.
2Ease of operation
If the end surface shape of the workpiece is distorted, then gripping and positioning becomes more difficult, but existing correction methods still result in varying orientation after correction
Solution Approach 1:
The system employs feedback mechanisms to monitor the actual position and orientation of the workpiece during the gripping and correction process. By continuously detecting the workpiece state and comparing it with the target positioning data, the robot makes real-time adjustments to compensate for distorted end surface shapes, ensuring accurate final positioning and orientation regardless of initial workpiece deformations.
Data Source
AI summary
The computer is connected to a robot including a hand which grips a workpiece, and a machining device including a gripping mechanism which grips the workpiece, acquires first operation information regarding an operation state of the robot and second operation information regarding an operation state of the machining device; and controls the robot to cause the robot to grip the workpiece and install the workpiece in the gripping mechanism In the control of the robot, the computer determines whether or not to start correction processing of correcting a position and an orientation of the workpiece with respect to the gripping mechanism based on the second operation information, executes the correction processing using the first operation information and the second operation information, and determines whether or not to end the correction processing based on the second operation information.