Offline Robot Path Programming for Any 3D Machining Shape

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Solution Overview

Problem

Conventional robot systems require manual and time-consuming teaching of machining paths for complex shapes, leading to high workload and effort in creating trajectories for tool movement.

Innovation Solution

An off-line programming device with a trajectory information creation unit and editing unit that enables the creation and editing of trajectory information for any three-dimensional shape, allowing for automatic determination of tool position and posture based on the machining path and work model surface normal direction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If manual teaching is used to create machining paths for complex shapes, then the system can handle any shape, but the workload and time required increase significantly

Engineering Contradiction:

Improveability to handle any shapeVSAvoidtime required for teaching

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent uses point cloud data obtained through scanning to create a digital copy of the workpiece surface. This point cloud serves as a template that automatically generates machining paths, replacing manual teaching operations. The system copies the geometric information from the physical workpiece and uses it to define the tool trajectory, thereby eliminating time-consuming manual programming while maintaining the ability to handle any shape.

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces the mechanical manual teaching process with an automated computational system. Instead of manually guiding the tool and recording positions, the system uses algorithms to process point cloud data and automatically generate machining paths. This substitution of mechanical teaching with computational processing dramatically reduces the time and effort required while preserving full shape adaptability.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of manufacture

If conventional movement patterns are used, then the system works with standard shapes, but it cannot create machining paths for arbitrary shapes

Engineering Contradiction:

Improveease of creating machining pathVSAvoidability to create any shape trajectory

Core Design Contradiction:

Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The patent introduces dynamic adaptability by allowing the machining path generation system to adjust to any shape configuration. Instead of being constrained to fixed movement patterns, the system dynamically generates trajectories based on the actual workpiece geometry from point cloud data. This dynamic approach enables the system to easily create machining paths for arbitrary shapes while maintaining operational simplicity through automated processing.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11426872B2Robot system

Publication Date: 2022.08.30 FANUC LTD

AI summary

To provide a robot system equipped with an off-line programming device which can create a machining path consisting of a trajectory of any shape, and can reduce the workload required in teaching of the machining path of any shape. Provided is an off-line programming device which teaches a program of a robot equipped with a toll that machines a workpiece arranged within a work space, the off-line programming device including a trajectory information creation unit which creates trajectory information of any 3D shape consisting of at least one layer; and a trajectory information editing unit which edits line segments constituting the trajectory information of the any 3D shape consisting of at least one layer.