Robot Path Programming Using 3D Pattern Projection
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Solution Overview
Problem
Manual correction of movement patterns in robot programming devices for coating or polishing tasks is time-consuming and requires many man-hours, necessitating a more efficient method to teach robots to avoid masked regions and reduce cycle time.
Innovation Solution
A robot programming device that creates a virtual workspace, models the workpiece, robot, and tool, specifies target regions, projects movement patterns onto the workpiece, and adjusts processing routes and operation programs to avoid non-target areas, using a controller with units for virtual space creation, model arrangement, target region specification, and route creation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual correction of movement patterns is used to teach robots to avoid masked regions, then the robot can be taught to process target regions accurately, but the teaching work requires many man-hours
Solution Approach 1:
The patent creates a virtual copy of the workspace, workpiece, and robot in a computer-based virtual space. This virtual model allows automatic generation of movement patterns without manual programming, eliminating the time-consuming manual teaching process while maintaining processing accuracy through virtual simulation and optimization
Solution Approach 2:
The patent replaces the manual mechanical teaching process with an automated computer-based system that uses virtual reality technology. The system automatically generates and optimizes movement patterns through computational algorithms, substituting human operators with automated software to reduce teaching time while maintaining precision
2Reliability
If manual teaching is used to create processing routes, then the robot can be programmed to avoid masked regions, but the cycle time cannot be optimized efficiently
Solution Approach 1:
The patent performs preliminary virtual simulation and optimization of movement patterns in the virtual workspace before actual robot execution. The system pre-calculates optimal paths that avoid masked regions and minimize cycle time, allowing the robot to execute pre-optimized routes efficiently without real-time adjustments
Solution Approach 2:
The patent implements dynamic optimization of movement patterns by allowing the virtual model to adapt and refine processing routes based on simulated conditions. The system can dynamically adjust movement patterns to optimize cycle time while ensuring reliable avoidance of masked regions through iterative virtual testing
Data Source
AI summary
A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.