Robot Programming Device for Automatic Interference Detection

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Solution Overview

Problem

Existing robot programming systems require manual intervention to check and correct teaching points and trajectories to avoid interference between robots and peripheral equipment, which is burdensome and inefficient, especially when system layouts change.

Innovation Solution

A robot programming device that simulates robot and peripheral equipment motion in a three-dimensional virtual space, allowing for automatic detection and correction of interference by setting motion directions and ranges as attribute data, and automatically generating new teaching points or trajectories to avoid interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual operation is used to check and correct teaching points, then interference can be detected, but the operation becomes burdensome and inefficient

Engineering Contradiction:

Improveinterference detection accuracyVSAvoidoperation burden

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The system performs self-checking by automatically detecting interference between the robot and peripheral equipment through simulation. The robot programming device executes simulation based on the motion program and automatically identifies interference areas, eliminating the need for manual checking and correction of teaching points.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual mechanical operation with automated simulation-based detection. Instead of manually moving the robot to check for interference, the system uses virtual simulation to predict and identify interference areas, substituting physical manual operations with computational analysis.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If teaching points are corrected after peripheral equipment is shifted, then the system adapts to layout changes, but the correction process becomes more burdensome

Engineering Contradiction:

Improvesystem layout adaptabilityVSAvoidcorrection burden

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The system performs preliminary simulation before actual robot operation to predict interference areas. By executing simulation based on the motion program and current system layout, the system identifies potential interference in advance, allowing for proactive adjustment of teaching points before physical layout changes are made.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system provides feedback by automatically detecting interference areas through simulation and notifying the operator. This feedback mechanism allows the operator to understand exactly where interference occurs and make informed decisions about correcting teaching points, rather than manually testing each point.

Inventive Principle:

Principle #23Feedback

3Reliability

If interference check is performed for each teaching point, then comprehensive coverage is achieved, but the time and effort required increases significantly

Engineering Contradiction:

Improveinterference check completenessVSAvoidprogramming efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The system segments the interference checking process by identifying specific interference areas between the robot and peripheral equipment through simulation. Instead of checking every teaching point individually, the simulation divides the space into relevant zones and identifies only those areas where interference is predicted to occur.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent replaces the mechanical process of manually moving the robot to each teaching point for interference checking with automated simulation. The simulation computationally analyzes the motion program and system layout to identify interference areas, eliminating the need for physical movement and manual checking.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS9902067B2Offline robot programming device

Publication Date: 2018.02.27 FANUC LTD

AI summary

A robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program or a program template, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.