Robot Program Verification for Tool Wear Correction Limits
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Solution Overview
Problem
Existing robot systems fail to ensure correct operation after tool position correction due to wear, leading to errors or control issues such as operation outside the range or singular postures.
Innovation Solution
A program evaluation device and teaching device that simulate and verify robot operation with varying tool wear, correcting operation programs to ensure correct robot operation across a range of wear amounts, including adjustments to tool position, posture, and angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot position is corrected according to the amount of wear, then the tool position accuracy is improved, but the robot may operate outside its valid range or encounter singular postures
Solution Approach 1:
The invention performs preliminary verification of the operation program by simulating robot operations with multiple different amounts of wear before actual execution. This advance checking prevents the robot from encountering invalid operations or singular postures during actual work, resolving the contradiction between maintaining position accuracy through wear correction and ensuring operational reliability.
2Manufacturing precision
If wear correction is applied, then tool position accuracy is maintained, but additional verification and correction processes increase system complexity
Solution Approach 1:
The invention creates a virtual copy of the robot system that includes a wear correction amount calculation unit and operation verification unit. This virtual model simulates robot operations with various wear amounts to verify program validity without affecting the actual robot system, thereby maintaining position accuracy while avoiding excessive complexity in the physical system.
3Reliability
If operation programs are verified for multiple wear amounts, then operational reliability is improved, but verification time and processing load increase
Solution Approach 1:
The invention verifies the operation program with a plurality of different wear amounts, which is more than the single wear amount measurement approach. By performing verification with multiple wear amounts (including zero wear and various worn states), the system ensures comprehensive coverage of possible operational conditions, improving reliability while the virtual simulation keeps the time cost acceptable.
Data Source
AI summary
A program evaluation device for evaluating an operation program for a robot. The operation program is a program that causes the robot to perform processing of a workpiece using a tool, and the robot has a function of correcting a position of the tool in response to an amount of wear of the tool. The program evaluation device includes an operation verification unit that verifies whether the robot will operate correctly in accordance with the operation program with each of a plurality of amounts of wear within a predetermined range.