Robot Offline Programming Correcting Positional Errors
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Solution Overview
Problem
Conventional offline programming methods for robots in manufacturing systems require manual operator intervention and skilled labor to correct relative positional relationships between robots and machine tools, leading to reduced operational efficiency, increased costs, and potential inaccuracies.
Innovation Solution
An offline programming method that uses a computer-based system to accurately determine and correct the relative positional relationship between a robot and a machine tool, eliminating the need for manual measurement and skilled operator input, by designating the relative positional relationship between the robot's hand and the object, calculating the object's position and orientation on the machine tool, and generating an operation program that adjusts for errors in the robot's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual measurement and skilled operator intervention are used to correct relative positional relationships, then measurement precision can be achieved, but productivity decreases and loss of time increases
Solution Approach 1:
The patent replaces manual mechanical measurement operations with an automated computer-based calculation system. The system automatically calculates correction values for relative positional relationships between robot and machine tool based on program data, eliminating the need for skilled operators to perform manual measurements and corrections, thereby improving productivity while maintaining measurement precision
Solution Approach 2:
The patent performs preliminary calculation of correction values during the offline programming phase, before actual robot operation begins. By pre-calculating the relative positional relationship corrections based on workpiece position commands and robot configuration data, the system eliminates the need for time-consuming manual measurements during production operations, thus improving operational efficiency
2Adaptability or versatility
If manual operator intervention is used to correct operation programs, then adaptability can be achieved, but device complexity increases
Solution Approach 1:
The patent enables the system to automatically correct its own operation programs without external operator intervention. The computer automatically calculates correction values for relative positional relationships and modifies the robot operation program accordingly, making the system self-sufficient and reducing the need for complex manual intervention procedures while maintaining adaptability
Solution Approach 2:
The patent introduces a computer-based calculation system as an intermediary between the robot control system and the operation program. This intermediary automatically processes the correction calculations based on program data and relative positional relationships, simplifying the overall system architecture by replacing complex manual correction procedures with automated computational processes
3Measurement precision
If expensive measurement tools are used for correction, then measurement precision improves, but loss of substance increases
Solution Approach 1:
The patent replaces expensive physical measurement tools with a computer-based calculation system that determines correction values through mathematical computations. By using program data, robot configuration information, and calculated correction values instead of expensive measurement equipment, the system achieves positional accuracy while eliminating the need for costly measurement tools and reducing equipment investment
Solution Approach 2:
The patent creates a virtual model of the robot and machine tool system in computer memory, allowing correction calculations to be performed on this digital copy rather than requiring physical measurement of the actual system. This virtual modeling approach enables precise correction calculations without the need for expensive physical measurement tools, reducing equipment costs while maintaining measurement precision
Data Source
AI summary
An offline programming method for preparing an operation program for making a robot with a hand attached thereto perform a handling operation for an object with respect to a machine tool is provided. Said object includes at least one of a workpiece and a tool. The method comprises: correcting said operation program in response to an error in a relative positional relationship between said machine tool and said robot, when said operation program is applied to a manufacturing system including said machine tool and said robot; wherein correcting said operation program comprises: providing a machine tool model and a robot model, respectively prepared by modeling said machine tool and said robot; setting a base coordinate-system model on said machine tool model, said base coordinate-system model allowing said workpiece processing program to be executed; providing a position detector in said manufacturing system, said position detector being disposed under a known positional relationship with respect to said robot; providing a target capable of being detected by said position detector at a basic position on said machine tool, said basic position corresponding to a position of an origin of said base coordinate-system model on said machine tool model; detecting said basic position of said target by said position detector; shifting said target along a feed axis of said machine tool, said feed axis corresponding to a coordinate axis of said base coordinate-system model, from said basic position to a predetermined reference position, and detecting said reference position of said target by said position detector; determining a base coordinate system of said machine tool for executing said workpiece processing program, based on said basic position and said reference position of said target detected by said position detector; and correcting said operation program accordingly to a difference between a positional relationship of said base coordinate-system model relative to said robot model and a positional relationship of said base coordinate system relative to said robot.