3D Robot Programming for Press Machine Interference Avoidance
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Solution Overview
Problem
Existing press working systems face challenges in coordinating the movement of press machines and robots to prevent interference, as components other than the crossbar or workpiece may interfere with the press machine, necessitating a more comprehensive robot programming system.
Innovation Solution
A robot programming system that includes a template program setting section, interference detection section, and robot program modification section to create a robot program that prevents interference by simulating the movement of three-dimensional models of robots, press machines, and workpieces in a virtual space, modifying the robot program to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a data table storing relationships between phase angles and crossbar positions is used to control robot movement, then the robot can be controlled to avoid interference with the movable die, but other components of the robot or the workpiece may still interfere with the press machine
Solution Approach 1:
The patent creates a three-dimensional virtual model that copies the physical press machine, robot, and workpiece. This virtual model allows comprehensive simulation and interference detection without affecting the actual equipment, enabling verification of all robot components and workpiece positions for potential interference with any part of the press machine.
Solution Approach 2:
The patent introduces a computer as an intermediary that processes the complex spatial relationships between the robot, workpiece, and press machine. The computer executes the robot program, detects interference through virtual simulation, and modifies the program accordingly, serving as a mediator between the robot control system and the press machine operation.
2Object-generated harmful factors
If the robot program is manually adjusted to prevent interference, then interference can be avoided, but the programming process becomes time-consuming and complex
Solution Approach 1:
The system enables self-service by allowing the robot program to automatically detect and correct its own interference issues through virtual simulation. The robot program modification section automatically adjusts the program based on detected interference, eliminating the need for manual programming adjustments and reducing programming time significantly.
Solution Approach 2:
The patent implements a feedback mechanism where the interference detection section continuously monitors the virtual robot movements and workpiece positions, and the robot program modification section uses this feedback information to automatically adjust the robot program, creating a closed-loop system that eliminates interference without manual intervention.
3Productivity
If the robot moves faster to improve productivity, then output increases, but the risk of interference with the press machine increases
Solution Approach 1:
The patent performs preliminary action by conducting virtual simulation and interference detection before actual robot operation. The robot program is pre-modified based on virtual testing results, ensuring that even at high speeds, the robot will not interfere with the press machine during actual operation.
Solution Approach 2:
The patent utilizes parameter changes by adjusting robot movement parameters (speed, position, timing) based on the virtual simulation results. The system optimizes these parameters to achieve high productivity while maintaining reliable interference avoidance through the modified robot program.
Data Source
AI summary
A robot programming system according to an aspect of the present disclosure includes: a robot program storage section; a press program storage section; a template program setting section that causes the robot program storage section to store, as an initial version of a robot program, a template program that instructs a robot how to move basically; a model placing section that places three-dimensional models of a workpiece, the robot, and a press machine in a virtual space; a robot movement processing section that causes the three-dimensional model of the robot to move; a press movement processing section that causes the three-dimensional model of the press machine to move; an interference detection section that detects interference between the three-dimensional models; and a robot program modification section that modifies a robot program stored in the robot program storage section to prevent interference detected by the interference detection section.