Robot-Machine Tool Clock Synchronization Without Taught Sync Points
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Solution Overview
Problem
In robotic and machine tool systems, specifying a synchronous position based on operation statements can be inconvenient, particularly when the synchronization start/end position is not explicitly taught, leading to inefficiencies in inter-press handling operations.
Innovation Solution
A system with a reference clock that periodically updates clock time, including internal clocks and a saving unit to store position and clock-time data from synchronization start to end commands, allowing robots and machine tools to operate in synchronization with the reference clock based on saved data, enabling specification of synchronous positions based on arbitrary positions or clock times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If synchronous position is specified by teaching according to operation statements of the program, then the synchronization control can be implemented, but the synchronous position must be a teaching point of a certain operation statement which limits flexibility and causes inconvenience when the synchronization start/end position is not explicitly taught
Solution Approach 1:
The system executes the operation program in advance to pre-calculate and store the relationship between clock time and robot position before actual synchronous operation. This preliminary execution allows the system to have position data ready for any arbitrary clock time without requiring teaching at those specific positions, thereby enabling flexible specification of synchronous positions while maintaining ease of operation.
2Reliability
If a system clock is used to synchronize instruments, then the synchronization between robot and machine tool can be achieved, but the synchronous position is constrained to teaching points which reduces operational efficiency
Solution Approach 1:
The control device executes the operation program in advance to pre-calculate the robot's position at each clock time interval, storing this correspondence data before actual operation. During synchronous operation, the system simply retrieves the pre-calculated position corresponding to the current clock time, ensuring both synchronization accuracy and operational efficiency without requiring teaching at every synchronous position.
Solution Approach 2:
The system creates a virtual model of the operation program execution by running it in advance and storing the position-time correspondence data. This copied data represents the actual robot behavior without requiring physical teaching at each position, allowing the system to reference this virtual model during actual operation to achieve both accuracy and efficiency.
Data Source
AI summary
This system includes a robot and a machine tool or another robot for cooperating with each other, and the system is provided with a reference clock that updates time periodically. The robot and the machine tool or another robot is equipped with: an internal clock; a storage unit which, by previously executing a created operation program on the basis of the internal clock, stores therein data regarding positions and times involved in said operation program between a synchronization start command and a synchronization end command; and an operation unit which causes, during synchronous operation in the operation program, the robot and the machine tool or another robot, to operate in synchronization with the reference clock on the basis of the reference clock and data of the positions and times of the operation program that have been stored by the storage unit.