Robot Deburring Path Generation from Laser-Measured Workpiece Shape
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Solution Overview
Problem
Conventional techniques for processing resin molded articles require teaching work to correct path information, leading to longer processing times due to variations in dimensions.
Innovation Solution
A processing apparatus that generates processing-point information based on the set position and processing-target-portion information, eliminating the need for teaching the articulated robot positions, using a laser sensor to measure and smooth height distribution, and control the orientation of cutting tools according to the tilt of the workpiece surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If direct teaching or automatic path generation system is used to set path information for articulated robot, then the robot can perform processing operations, but the processing time increases due to required teaching work and corrections
Solution Approach 1:
The system performs self-measurement and self-positioning by using the laser sensor to automatically measure the workpiece dimensions and generate path information without external teaching intervention. The articulated robot system serves itself by integrating measurement and control functions, eliminating the need for manual path setting and corrections.
Solution Approach 2:
The patent replaces manual teaching operations with an automated optical measurement and control system. The laser sensor-based measurement system substitutes for manual measurement and path programming, converting mechanical teaching operations into automated optical-based positioning and path generation.
2Manufacturing precision
If path information is set based on CAD data or direct teaching, then processing can be performed, but the path accuracy decreases due to large variations in resin molded article dimensions
Solution Approach 1:
The system performs preliminary measurement of the actual workpiece dimensions using the laser sensor before processing begins. By measuring the workpiece in advance and generating path information based on actual dimensions rather than nominal CAD data, the system prepares accurate processing paths that account for dimensional variations before the cutting operation starts.
Solution Approach 2:
The system incorporates feedback by using the laser sensor to continuously measure the workpiece geometry and feed this information back to the control unit. The control unit then adjusts the path information based on the measured dimensions, creating a closed-loop system that adapts to actual workpiece variations and maintains high path accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution reduces processing time by automatically generating accurate processing points, eliminating the need for manual teaching and ensuring precise deburring operations without deep cutting or tool breakage.
Implementation Method 1
a laser sensor 30 for measuring a shape of the workpiece 20
Implementation Method 2
measuring a shape of the workpiece 20 by causing a laser beam to irradiate the workpiece 20
Data Source
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AI summary
A processing apparatus 1 includes: a workpiece-set-position recognition unit 114 that moves an arm distal-end portion to a specified position measurement point to measure a shape of a workpiece in a workpiece set state in which the workpiece is positioned by a workpiece positioning unit, and thereby recognizes a set position of the workpiece; a processing-point-information generation unit 115 that, based on the set position of the workpiece and processing-target-portion information 124 indicating a position of a target portion of the workpiece for specified processing, generates processing-point information 125 indicating a processing point which is a movement point of the arm distal-end portion to perform the specified processing on the workpiece using a processing tool in the workpiece set state; and a workpiece-processing control unit 116 that moves the arm distal-end portion to the processing point based on the processing-point information 125 to perform the specified processing on the workpiece using the processing tool.