Robot Error Correction Unit for Workpiece Alignment
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Solution Overview
Problem
Achieving sufficient machining accuracy with machine tools requires precise alignment of the workpiece's center position and posture with the securing mechanism, which is time-consuming and difficult to achieve, especially for inexperienced operators, due to errors in position and posture during workpiece supply by robots.
Innovation Solution
A robot control device with an error correction unit that performs force control based on detection values from a force detector to automatically correct position and posture errors between the workpiece and the securing mechanism, using a gripping mechanism, force detector, and robot system that includes a robot, machine tool, and numerical control device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If teaching work is performed manually to align workpiece center position and posture with the securing mechanism, then machining accuracy can be achieved, but the process requires a lot of time and effort even for skilled workers
Solution Approach 1:
The robot performs self-alignment by automatically detecting position and posture errors of the workpiece relative to the securing mechanism and correcting them without human intervention. The error correction unit enables the robot to autonomously adjust the workpiece position and posture based on detection results, eliminating the need for manual teaching work while maintaining high machining accuracy.
Solution Approach 2:
The system uses a detection device to measure the actual position and posture of the workpiece, feeds this information back to the error correction unit, which then calculates correction amounts and adjusts the robot's positioning. This closed-loop feedback mechanism enables automatic correction of alignment errors, replacing time-consuming manual teaching with an automated iterative correction process.
2Manufacturing precision
If manual teaching is used to match workpiece position and posture, then alignment accuracy can be achieved, but the process is very difficult for workers unfamiliar with the robot
Solution Approach 1:
The robot system performs self-alignment through automated detection and correction mechanisms. The error correction unit automatically calculates position and posture errors and generates correction commands without requiring the operator to understand complex robot teaching procedures. This makes the system easy to operate while maintaining high alignment accuracy.
Solution Approach 2:
The error correction unit acts as an intermediary between the detection device and the robot controller. It processes detection data, calculates correction amounts, and generates control commands, thereby shielding the operator from complex alignment procedures. The operator only needs to initiate the automatic correction process, significantly reducing operation difficulty while achieving precise alignment.
3Extent of automation
If force control is performed based on force detector values to correct position and posture errors, then automatic error correction is achieved, but the system complexity increases
Solution Approach 1:
The error correction unit serves multiple functions: it processes detection data, calculates position and posture errors, determines correction amounts, and generates control commands. By consolidating these functions into a single multi-functional unit, the system achieves high automation while minimizing the increase in overall system complexity.
Solution Approach 2:
The system merges the detection device, error correction unit, and robot controller into an integrated control system. The force detector, error correction unit, and robot work together as a unified system where the error correction unit acts as a bridge, combining detection and control functions to achieve automatic error correction without requiring separate complex subsystems.
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
Automatically corrects errors in workpiece position and posture during supply, simplifying the teaching process and ensuring accurate machining by using force control to align the workpiece with the securing mechanism, thereby improving machining accuracy.
Implementation Method 1
a force detector 23 configured to detect an external force and a moment acting on the workpiece 6
Data Source
AI summary
Provided are a robot control device and a robot system that can automatically correct errors in position and posture when supplying a workpiece. A robot control device for controlling a robot comprises an error correction unit that, when the robot supplies a workpiece to or removes the workpiece from a machine tool, performs force control on the basis of a detection value of a force detector detecting an external force and a moment acting on the workpiece, and corrects errors in position and posture of the workpiece and a securing mechanism securing the workpiece.