Robot Lost Motion Detection via Prealigner Segmentation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for detecting deviation amounts caused by lost motion in robots are complex and time-consuming, requiring labor-intensive procedures.
Innovation Solution
A robot diagnosing method that includes preparing a robot with a robot arm, end effector, and prealigner, detecting the center position of a workpiece, rotating a joint portion by a predetermined angle, and calculating the deviation amount based on initial and final center positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the complex procedure described in Japanese Laid-Open Patent Application Publication No. 2009-49251 is used to detect deviation amount, then the detection can be performed, but the detection requires labor and time
Solution Approach 1:
The invention segments the deviation detection process into two distinct phases: a teaching phase where the robot is trained to place the workpiece at the correct position, and a measurement phase where only the deviation is measured by the prealigner. This segmentation eliminates the need for complex repeated operations at multiple offset positions, significantly reducing detection time while maintaining measurement precision.
Solution Approach 2:
The invention applies preliminary action by performing the teaching operation first, where the robot learns the correct placement position. Once the teaching is complete, the system stores the teaching position data and uses it for subsequent deviation measurements. This preliminary training eliminates the need to repeatedly perform complex detection procedures, reducing time loss in actual measurement operations.
2Measurement precision
If the complex procedure with multiple offset operations is used, then the deviation amount can be detected, but the procedure is complex and labor-intensive
Solution Approach 1:
The invention divides the detection system into two functional parts: a robot arm with end effector for placement operations, and a prealigner for measurement operations. The robot handles the teaching phase while the prealigner handles the measurement phase independently. This functional segmentation simplifies the overall procedure by allowing each component to perform its specialized function without requiring complex coordinated operations at multiple offset positions.
Solution Approach 2:
The invention uses the prealigner to create an accurate optical copy or image of the workpiece position on the turntable. Instead of requiring complex physical measurements or repeated mechanical operations, the system captures the position information optically and processes it electronically to determine deviation, significantly simplifying the detection procedure.
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
Enables the detection of deviation amounts caused by lost motion in a simple and efficient manner, reducing the need for extensive procedures and allowing for accurate detection within a semiconductor manufacturing site without moving equipment.
Implementation Method 1
a sensor configured to detect an outer edge portion of the work that is being rotated by the driving portion
Data Source
AI summary
A robot diagnosing method detects a deviation amount caused by a lost motion and includes: a first step of preparing a robot including a robot arm having at least one joint portion, a work conveyed by the robot, and a prealigner including a processing portion configured to detect a center position of the work; and after the first to fifth steps, a sixth step of detecting the deviation amount caused by the lost motion at the one joint portion based on (i) the center position of the work based on the center position of the work detected in the second step and a command value from a robot control portion in the fourth step and (ii) the center position of the work detected in the fifth step.