Industrial Robot Program Correction for Corner Speed
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Industrial robots experience a significant reduction in tool movement speed when encountering corners in their path, leading to poor processing quality due to existing methods requiring hardware changes to maintain speed, which users find difficult to implement.
Innovation Solution
A program correcting device that simulates robot operations, calculates speed variations, evaluates patterns, and selects correction schemes to increase minimum speed without altering hardware settings, including adding or changing operating commands to optimize speed recovery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot moves the tool at command speed through corners, then processing quality improves, but the movement speed unavoidably reduces causing excessive processing on the workpiece
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing optimal movement speeds at teaching points before actual robot operation. The speed correction values are computed in advance based on the movement path geometry, allowing the robot to execute corrected speeds without real-time calculation delays, thus maintaining both high speed and processing quality through corners
2Speed
If the method of path interpolation is employed to maintain speed, then movement speed is maintained, but hardware settings must be changed which users find difficult to implement
Solution Approach 1:
The patent replaces the mechanical/hardware-based speed control system with a software-based solution. Instead of physically adjusting robot hardware settings to maintain speed through corners, the system uses a program correcting device that calculates and applies speed correction values through software processing of the teaching data, making the system easier to operate without hardware modifications
Solution Approach 2:
The patent changes the parameter representation from fixed hardware settings to variable software parameters. By storing and modifying speed correction values in the operating program rather than changing hardware configurations, the system allows flexible parameter adjustment that maintains movement speed while improving ease of operation
3Manufacturing precision
If the robot reduces speed at corners to maintain processing quality, then processing quality improves, but productivity decreases due to time loss
Solution Approach 1:
The patent applies dynamics by enabling dynamic speed adjustment at teaching points based on the local geometry of the movement path. The system calculates optimal speeds that allow the robot to maintain processing quality through corners while minimizing speed reduction, creating a dynamic speed profile that adapts to path characteristics rather than using fixed speed limits
Data Source
AI summary
A program correcting device comprises an executing part which executes a simulation of operation of the robot based on an operating program, a calculating part which calculates a variation with time of a TCP speed from the simulation results, an evaluating part which evaluates a pattern of the calculated variation with time if a minimum value of the TCP speed during the calculated variation with time is a predetermined lower limit value or less, a selecting part which selects a correction scheme of the operating program for increasing the minimum value of the TCP speed from a plurality of correction schemes, in accordance with the evaluation results of the pattern of the variation with time, and a correcting part which corrects the operating program in accordance with the selected correction scheme.