Robot Program Changing Device for Cycle Time Reduction
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Solution Overview
Problem
Robot operational programs created offline often require correction due to differences in the relative positional relationship between a workpiece and a robot between the offline and online environments, leading to increased cycle time when smooth operation is taught, causing the actual movement path to deviate from the target path.
Innovation Solution
A robot program changing device that interchanges and adjusts teaching points in the operational program to minimize movement time between points, calculates differences in trajectory, and adjusts positions to ensure the robot moves through original teaching points while reducing cycle time, even when smooth operation is taught.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If smooth operation is taught to connect teaching points, then cycle time is reduced, but the actual movement path departs from the target movement path
Solution Approach 1:
The system performs preliminary simulation execution of the operational program to predict the robot's movement trajectory before actual execution. By calculating the arm tip position at multiple time points during each movement command and comparing it with the teaching point positions, the system identifies potential path deviations in advance and adjusts the program accordingly, preventing path departure while maintaining smooth operation benefits
Solution Approach 2:
The system uses feedback from simulation results to iteratively adjust the operational program. The simulation provides information about actual movement paths, which is fed back to modify teaching point positions or movement parameters. This closed-loop approach ensures that smooth operation is maintained while correcting any path deviations that would otherwise occur
2Manufacturing precision
If teaching points are connected with shortest lines, then path accuracy is improved, but cycle time increases
Solution Approach 1:
The system dynamically adjusts movement parameters including acceleration, deceleration, and speed profiles based on the specific characteristics of each movement command and the robot's current state. Rather than using fixed shortest-path connections, the system optimizes movement trajectories in real-time during simulation, allowing for smoother transitions that maintain both path accuracy and reduced cycle time
3Ease of operation
If smooth operation is taught, then movement smoothness is improved, but the robot does not pass through original teaching points
Solution Approach 1:
The system applies different quality requirements to different parts of the movement trajectory. At teaching points and critical positions, the system ensures precise positioning by adjusting local movement parameters or inserting intermediate commands. Between teaching points, smooth operation is maintained with optimized acceleration and deceleration profiles. This localized approach preserves both smoothness and teaching point accuracy
Data Source
AI summary
A program changing device includes a sequence interchanging unit for interchanging plural teaching points in a teaching sequence such that total movement time of a robot becomes smaller than that when the robot is moved in line with an initial teaching sequence of the teaching points, a calculating unit for calculating difference amounts between the initial teaching points and a trajectory of the robot that is obtained by executing an after-interchanged operational program by simulation, a position adjusting unit for adjusting positions of the teaching points of the after-interchanged operational program until the difference amounts become equal to or smaller than a predetermined allowable value, and a teaching point changing unit for changing the adjusted teaching points to be the initial teaching points when cycle time of the after-interchanged operational program including the adjusted teaching points is longer than initial cycle time.