Robot Programming for Automated Shaft-Hole Fitting Teaching
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Solution Overview
Problem
Conventional robot motion program teaching for fitting workpieces requires manual adjustment by workers, depending on their proficiency and is time-consuming.
Innovation Solution
A robot programming device that disposes robot and work object models in a virtual space, acquires shape features, sets teaching points, and creates a motion program to automate the fitting process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment method is used to teach robot motion program for fitting work, then the robot can be precisely positioned to match shaft and hole, but the teaching process becomes time-consuming and depends on worker proficiency
Solution Approach 1:
The patent creates a virtual copy of the physical work environment including 3D models of the robot, workpieces with shafts and holes, and the workspace. This virtual model allows automated calculation of teaching points without manual intervention, resolving the contradiction by replacing time-consuming manual adjustment with automated computer-based processing while maintaining positioning precision through accurate 3D modeling and geometric calculations.
Solution Approach 2:
The patent replaces the manual mechanical adjustment process with an automated computational system. The control unit automatically calculates teaching point coordinates based on 3D model data, shaft and hole geometry, and robot kinematics, substituting the mechanical manual positioning process with automated mathematical computations that are both faster and more precise.
2Ease of manufacture
If manual teaching method is used for robot fitting work, then the motion program can be taught, but the process requires high worker proficiency and extensive manual labor
Solution Approach 1:
The system performs self-service by automatically generating teaching points through computational geometry and kinematics calculations. The control unit autonomously processes 3D model data, determines optimal teaching point positions based on shaft-hole geometry, and generates motion program coordinates without requiring manual operator intervention, thereby improving ease of operation while maintaining programming capability.
Solution Approach 2:
The patent performs preliminary actions by pre-processing the 3D models of workpieces, shafts, and holes to extract geometric features and calculate potential teaching point locations before actual robot operation. This preliminary computational work prepares the teaching data in advance, making the actual programming process simpler and more efficient.
Data Source
AI summary
A robot programming device capable of improving the teaching efficiency of a motion program for a fitting work performed by a robot is provided. This robot programming device includes: a feature acquisition unit for acquiring shape features of a first work object model and a second work object model; a teaching point setting unit for setting, on the basis of the shape features, a teaching point for fitting an axis of the first work object model into a hole of the second work object model by the robot model; and a program creation unit for creating a motion program for the robot to perform fitting work for fitting the axis of the first work object model into the hole of the second work object model, using the set teaching point.