3D Robot Path Programming for Continuous Pressing Tasks
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Solution Overview
Problem
Existing robot programming techniques struggle to efficiently create operation programs for robots to continuously press a gripping object against a fixed object, such as a roller against a plane block or a workpiece against a belt sander, requiring numerous manual teaching steps.
Innovation Solution
A robot programming device and method that utilize a three-dimensional virtual space to arrange robot, gripping object, and fixed object models, specify a reference line for the gripping object's outer periphery, designate a transfer start point on the fixed object, and create an operation path by transferring the reference line onto the fixed object, thereby generating a robot operation program.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual teaching is used to program robot operations for pressing gripping objects against fixed objects, then the robot can perform the required operations, but the number of teaching steps becomes very large and the programming process becomes time-consuming
Solution Approach 1:
The patent uses a three-dimensional model of the fixed object to automatically generate operation paths by copying and transferring the model's geometric features (such as contour lines and cross-sections) into robot motion paths. This eliminates the need for manual step-by-step teaching and dramatically reduces programming time while maintaining operational accuracy.
Solution Approach 2:
The system performs preliminary actions by pre-defining the three-dimensional model of the fixed object and pre-calculating the operation paths based on the model's geometry before actual robot execution. This preparatory work enables automatic program generation without requiring time-consuming on-site manual teaching.
2Ease of operation
If manual teaching is used to create operation programs for continuous pressing operations, then the robot can be programmed to perform the task, but the complexity and number of steps in the teaching process increases significantly
Solution Approach 1:
The patent replaces the mechanical manual teaching process with an automated computational system. Instead of manually moving the robot through each position and recording data points, the system uses computer-based algorithms to automatically generate motion paths from the three-dimensional model, significantly simplifying the programming process.
Solution Approach 2:
The system performs self-service by automatically generating operation programs using the geometric information from the fixed object's three-dimensional model. The program generation process is autonomous, requiring minimal human intervention beyond initial model setup and parameter specification.
Data Source
AI summary
This robot programming device creates an operational program for a robot that moves while pressing a gripped object, which is gripped by the robot, against a fixed object. The robot programming device includes a model arrangement unit which arranges, in a three-dimensional virtual space, a robot model of the robot, a gripped object model of the gripped object, and a fixed object model of the fixed object, a reference line designation unit which designates a reference line indicating a range, of the outer circumference of the gripped object model, to be pressed against the fixed object, a transfer start point designation unit which designates a transfer start point for transferring the reference line onto the fixed object model, and an operational path creation unit which creates an operational path by transferring the reference line onto the fixed object by using the transfer start point as the start point.