Robot Programming Device for Automatic Interference Correction
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Solution Overview
Problem
Current offline robot programming methods require significant time for correcting interference between robots, tools, and workpieces or peripheral devices, as interference is not considered during teaching point generation, leading to extensive manual adjustments in three-dimensional space.
Innovation Solution
A robot programming device that generates and corrects operation programs by designating processing lines, operation modes, and detecting interference to automatically find non-interference positions through translatory and rotational movements, reducing manual correction time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If teaching points are generated on a CAD model of the workpiece without considering interference, then program generation is simplified, but significant time is required for manual correction of interference at each teaching point
Solution Approach 1:
The interference detection unit performs interference detection in advance at each teaching point before the robot executes the program. This preliminary detection allows the system to identify potential interference issues during program generation rather than during actual robot operation, enabling proactive correction and avoiding time-consuming manual adjustments later.
Solution Approach 2:
The interference detection unit provides feedback information about detected interference to the correction unit. This feedback mechanism enables the correction unit to automatically adjust the robot program based on the detected interference, creating a closed-loop system that continuously improves program quality without requiring extensive manual intervention.
2Reliability
If the robot position is manually adjusted to avoid interference in three-dimensional space, then interference is eliminated, but significant time is required for adjustment work
Solution Approach 1:
The correction unit automatically corrects the robot program based on interference detection results without requiring manual operator intervention. The system serves itself by autonomously identifying interference issues and generating corrected programs, eliminating the time-consuming manual adjustment process while maintaining reliable interference avoidance.
Solution Approach 2:
The system replaces manual mechanical adjustment of robot positions in three-dimensional space with an automated computational correction process. Instead of physically moving the robot and manually adjusting positions, the interference detection unit identifies problems and the correction unit automatically generates corrected programs through computational methods.
3Measurement precision
If the tool non-processing part is designated as an interference target, then interference detection accuracy is improved, but program complexity increases
Solution Approach 1:
The interference target designating unit designates only the tool non-processing part as the interference target, rather than the entire tool. This localized approach focuses interference detection on the specific portion of the tool that can cause interference, improving detection accuracy while avoiding the complexity of monitoring the entire tool structure.
Solution Approach 2:
The tool is segmented into processing part and non-processing part, with only the non-processing part designated as the interference target. This segmentation allows the system to selectively monitor only the portions of the tool that are relevant for interference detection, reducing overall program complexity while maintaining detection accuracy.
Data Source
AI summary
A robot programming device (10) includes: a processing line designating unit (21) that designates a processing line (41); an operation mode designating unit (22) that designates an operation mode of the teaching point; a program generation unit (23) that generates a program for a robot (12) based on the processing line and the operation mode; an interference target designating unit (24) that designates a tool non-processing part as an interference target; an interference detection unit (25) that detects interference between the robot and the workpiece, at a teaching point; a non-interference position search unit (26) that searches for a non-interference position; and a correction unit (27) that corrects a position of the teaching point based on a search result.