Robot Posture Correction Using Load Feedback During Work Removal
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Solution Overview
Problem
Existing methods for adjusting the work supply posture of a robot to prevent excessive loading during machining are inefficient, particularly when there are changes in work dimensions or robot hand deformation, leading to reduced production efficiency.
Innovation Solution
A robot control device that corrects the robot's posture based on sensor measurements to minimize load, storing and updating postures to adapt to changing work dimensions and deformations, ensuring efficient work handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot posture is adjusted by stopping production to learn new postures using master works, then the robot posture accuracy is improved, but the production efficiency deteriorates due to frequent production stops
Solution Approach 1:
The system performs preliminary posture correction by detecting load deviations during actual production operations. The correcting part continuously monitors and adjusts the robot posture based on measured load values, eliminating the need for separate learning phases using master works. This allows posture accuracy to be maintained while production continues uninterrupted.
Solution Approach 2:
The robot system performs self-correction of its posture by using load sensor feedback during normal operations. The correcting part automatically adjusts posture parameters based on measured load deviations, enabling the system to maintain accuracy without external intervention or production stops for learning.
2Productivity
If the robot posture is corrected using load measurements during production, then the production continuity is improved, but the posture correction accuracy may deteriorate without master work reference
Solution Approach 1:
The system implements continuous feedback by measuring load values during robot operations and using this information to correct posture deviations. The correcting part processes load measurements in real-time and adjusts posture parameters accordingly, maintaining accuracy without requiring master work references or production stops.
Solution Approach 2:
The invention replaces the mechanical master-work-based learning system with a sensor-based load measurement system. Instead of using physical master works for posture reference, the system uses load sensor feedback to detect and correct posture deviations, enabling continuous production while maintaining accuracy.
3Adaptability or versatility
If the robot posture is frequently adjusted to accommodate dimensional errors in works, then the adaptability is improved, but the operation time increases due to repeated learning processes
Solution Approach 1:
The system maintains continuous useful action by performing posture correction during normal production operations rather than requiring separate learning phases. The correcting part continuously monitors load measurements and adjusts posture in real-time, allowing the robot to adapt to dimensional variations while maintaining continuous production flow without time loss.
Data Source
AI summary
A robot that attaches and removes a work with respect to a machining device is controlled to correct a deviation of the robot's posture. A robot control device includes a correcting part that corrects a posture of the robot based on a measured value of a sensor that measures a load on the robot; a robot posture obtaining part; a work attachment target posture generating part; and a path generating part. The correcting part corrects the posture of the robot to decrease the load on the robot to be smaller than a threshold when the robot grips the work after machining. The robot posture obtaining part obtains a removal posture that is the posture of the robot after the correction for a plurality of the works after machining. The work attachment target posture generating part generates a new work attachment target posture based on a plurality of the removal postures.