Robot Workpiece Shape Recognition for Teaching-Free Processing
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Solution Overview
Problem
Conventional techniques for processing resin molded articles require teaching work due to variations in dimensions, leading to longer processing times as path information may not always indicate the correct paths.
Innovation Solution
A processing apparatus with an articulated robot equipped with a shape measurement unit and a processing-point-information generation unit that recognizes the set position and shape of the workpiece, generates processing-point information, and controls the arm distal-end portion to perform specified processing without the need for teaching, accommodating variations in resin molded articles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If path information is set by direct teaching or automatic path generation system, then the articulated robot can process resin molded articles, but the processing time increases due to the need for teaching work and path correction
Solution Approach 1:
The system performs self-position recognition by automatically measuring the workpiece shape and calculating the set position without external teaching. The workpiece-set-position recognition unit enables the robot to autonomously determine its starting position based on actual workpiece geometry, eliminating the need for manual teaching work while maintaining processing accuracy.
Solution Approach 2:
The shape measurement and position recognition are performed before the actual processing begins. By pre-acquiring the workpiece shape data and calculating the set position in advance, the system prepares all necessary positioning information beforehand, eliminating the need for time-consuming teaching operations during production.
2Manufacturing precision
If path information is set by direct teaching or automatic path generation system, then the articulated robot can process resin molded articles, but the processing accuracy decreases due to dimensional variations in workpieces
Solution Approach 1:
The system uses actual workpiece shape measurements as feedback to dynamically adjust the processing path. The shape measurement unit captures real workpiece geometry, and this information feeds back into the processing-point-information generation unit to calculate accurate set positions that adapt to each workpiece's specific dimensions, ensuring high processing accuracy despite variations.
Solution Approach 2:
The processing path is made dynamic by calculating set positions based on actual measured workpiece shapes rather than using fixed predetermined paths. The system adapts its motion trajectory in real-time according to the specific geometry of each workpiece, enabling it to handle dimensional variations while maintaining processing precision.
3Manufacturing precision
If teaching work is performed to correct path information, then processing accuracy can be improved, but the overall processing time increases
Solution Approach 1:
The manual teaching operation is replaced by an automated measurement and calculation system. Instead of mechanically moving the robot through teaching positions, the system uses the shape measurement unit to capture workpiece geometry and computationally determines the correct set positions, substituting manual mechanical teaching with automated optical measurement and mathematical calculation.
Data Source
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AI summary
A processing apparatus 1 includes: a workpiece-set-position recognition unit 114 that moves an arm distal-end portion to a specified position measurement point to measure a shape of a workpiece in a workpiece set state in which the workpiece is positioned by a workpiece positioning unit, and thereby recognizes a set position of the workpiece; a processing-point-information generation unit 115 that, based on the set position of the workpiece and processing-target-portion information 124 indicating a position of a target portion of the workpiece for specified processing, generates processing-point information 125 indicating a processing point which is a movement point of the arm distal-end portion to perform the specified processing on the workpiece using a processing tool in the workpiece set state; and a workpiece-processing control unit 116 that moves the arm distal-end portion to the processing point based on the processing-point information 125 to perform the specified processing on the workpiece using the processing tool.