Robot Teaching Position Correction via Vision Sensor Measurement
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Solution Overview
Problem
Existing teaching position correction devices for robot systems face challenges in accurately correcting teaching positions after relocation of the robot or holding device, requiring complex calibration and potential interference with work tools and mechanisms.
Innovation Solution
A teaching position correction device equipped with a vision sensor and position measurement unit that measures three-dimensional positions of the robot's tip end relative to multiple reference points on a work target object and holding device, allowing for calculation and compensation of relative position changes before and after relocation, thereby correcting teaching point positions in the operation program without the need for recalibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex calibration procedures are used to correct teaching positions after relocation, then measurement precision is improved, but device complexity increases and operation becomes more difficult
Solution Approach 1:
The patent replaces complex mechanical calibration procedures with a vision-based measurement system. The vision sensor captures images of reference points, and the control device automatically calculates teaching position corrections based on these images, eliminating the need for manual mechanical calibration operations.
Solution Approach 2:
The system performs automatic self-correction of teaching positions. The control device automatically processes vision sensor data, calculates position deviations, and corrects teaching positions without requiring external calibration equipment or complex manual intervention.
2Adaptability or versatility
If vision sensor is relocated with the robot, then measurement capability is maintained, but interference with work tools and mechanisms occurs
Solution Approach 1:
The patent extracts the vision sensor from the robot arm and places it on a separate movable support. This separation allows the vision sensor to be relocated independently without interfering with the robot's work tools and mechanisms, while still maintaining the ability to track and measure reference points on the workpiece.
3Measurement precision
If recalibration is performed after relocation, then teaching position accuracy is improved, but loss of time occurs
Solution Approach 1:
The patent establishes a coordinate system and places reference points on the workpiece before relocation. When relocation occurs, the system only needs to capture new images of these pre-established reference points and calculate corrections, rather than performing complete recalibration procedures.
Solution Approach 2:
The system replaces time-consuming manual recalibration operations with automatic vision-based measurement and calculation. The control device automatically processes images of reference points and computes teaching position corrections, dramatically reducing the time required compared to traditional mechanical recalibration methods.
Data Source
AI summary
Provided is a teaching position correction device including a vision sensor attached to a tip end of an arm of a robot; a measurement unit measuring a three-dimensional position of the tip end of the robot when the sensor is arranged at a predetermined position with respect to each of reference points provided on an object or a holding device and not arranged on one straight line; and a calculation unit calculating relative positions of the reference points based on the measured three-dimensional position while the sensor is translated, where a teaching point position in an operation program of the robot is corrected in such a way that a change in relative positions of the robot and the holding device is compensated for, based on the relative positions of the reference points calculated before and after relocation of at least one of the robot and the holding device.