Robot Teaching System Approach Point Adjustment
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Solution Overview
Problem
Current teaching systems for robots require significant operator workload and time to generate teaching data, particularly due to the need for multiple input points on the operation path, leading to inefficiencies in the generation process.
Innovation Solution
A teaching system that includes a teaching-data generator, a determiner, and a teaching-data updater, which generates teaching data for a robot in a virtual environment with a work tool and workpiece, adjusts approach points to avoid interference, and updates the path to optimize the movement of the work tool or workpiece, reducing the workload and time required for data generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the operator inputs multiple teaching points on the operation path manually, then the teaching data can be generated, but the workload of the operator increases and the generation time is extended
Solution Approach 1:
The system preliminarily sets multiple working points on the workpiece before robot operation. By pre-defining these working points and their corresponding approach points, the system eliminates the need for operators to manually input multiple teaching points during operation, thereby reducing workload and generation time while maintaining complete teaching data coverage
Solution Approach 2:
The system automatically determines whether virtual lines connecting approach points interfere with the workpiece or work tool, and automatically updates approach point positions when interference is detected. This self-service mechanism eliminates manual operator intervention for path verification and adjustment, significantly improving teaching data generation efficiency
2Reliability
If the operator manually adjusts each approach point to avoid interference, then collision avoidance is achieved, but the complexity of the teaching process increases
Solution Approach 1:
The system implements an automatic feedback mechanism where the determiner evaluates whether virtual lines between approach points interfere with the workpiece or work tool, and triggers automatic updates to approach point positions when interference is detected. This closed-loop feedback system ensures collision avoidance while eliminating the need for complex manual adjustments by the operator
Solution Approach 2:
The system introduces a virtual line as an intermediary element to represent the robot's movement path between approach points. By evaluating interference of this virtual line rather than directly simulating the entire robot mechanism, the system simplifies the teaching process while maintaining accurate collision detection capabilities
Data Source
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AI summary
A teaching system (10) includes: a teaching-data generating unit (111e) configured to generate teaching data of a robot (30) having a joint in a virtual environment including a work tool (35), the robot (30), and a workpiece (W) to which a plurality of working points (WP) is preliminarily set, the teaching data causing the robot (30) to move one of the work tool (35) and the workpiece (W) passing through approach points (A) corresponding to the respective working points (WP) to cause the work tool (35) to relatively reach and separate from the working points (WP); a determining unit (111f) configured to determine whether a virtual line (H) interferes with another of the workpiece (W) and the work tool (35), the virtual line (H) connecting the approach points (A) of the consecutively worked working points (WP) together; and a teaching-data updating unit (111g) capable of changing a position of the approach point (A) on the virtual line (H).