Transfer Robot Teaching via Approach Points and Safe Path Segmentation
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Solution Overview
Problem
In workpiece processing systems, the complexity of moving paths for robots increases the number of operator operations required for teaching, especially when transferring between multiple processing devices, leading to inefficiencies.
Innovation Solution
A workpiece processing system that includes a control device with an approach point setter, first and second program generators, and a controller to define and execute the robot's operation, allowing for reduced operator interactions by setting approach points based on non-interference regions and standardizing device sizes, thereby eliminating the need for conventional teaching operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional teaching operations are used to store moving paths for the transfer robot, then the robot can transfer workpieces without contact with peripheral members, but the number of operator operations increases significantly especially when the moving path is complicated
Solution Approach 1:
The patent divides the teaching process into two segments: (1) automatic generation of teaching points using simulation data for positions that do not require interference checking, and (2) manual teaching only for positions where interference may occur. This segmentation reduces the overall number of manual operations while maintaining transfer accuracy.
Solution Approach 2:
The system performs preliminary simulation operations before actual teaching to pre-determine safe moving paths and generate teaching point data. This preliminary action identifies interference-free regions in advance, so that only critical positions require manual teaching, significantly reducing operator workload.
2Reliability
If manual teaching is performed for all moving paths to ensure safe operation, then interference between the robot and peripheral members is avoided, but the setup time and complexity increase
Solution Approach 1:
The system performs preliminary simulation operations to pre-calculate safe moving paths and generate teaching point data before actual robot operation. This preliminary action identifies interference-free regions in advance, allowing automatic generation of teaching programs for those regions and significantly reducing on-site teaching time.
Solution Approach 2:
The system creates a virtual copy of the physical workspace through 3D modeling and simulation. This digital twin allows virtual testing and teaching point generation without physical interference, enabling automatic program generation that can be directly applied to the real robot, reducing both time and complexity of actual setup.
Data Source
AI summary
A workpiece processing system (1) includes a transfer robot (3), a control device (4) controlling operation of the transfer robot (3), and an operating part (5) performing a teaching operation to the transfer robot (3). The control device (4) has an approach point setter (6) setting in advance an approach point as a reference point for the transfer robot (3) to start operation to a workpiece processing device, a first program generator (7) generating a first program defining the operation of the transfer robot (3) from an operational zero point for the transfer robot (3) to the approach point, a second program generator (8) generating a second program defining the operation of the transfer robot (3) after the approach point based on the teaching operation, and a robot controller (9) controlling the operation of the transfer robot (3) in accordance with the first program and the second program.