Robot Teaching Device Positional Deviation Warning
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Solution Overview
Problem
Current methods for verifying whether teaching points or lines in a robot teaching operation are on the plane of a workpiece are inefficient, as they require manual trial and error to detect positional deviations, leading to decreased work efficiency.
Innovation Solution
A robot teaching device that automatically warns or corrects positional deviations by acquiring multiple teaching positions, calculating a normal vector, and determining distances or shifts to a virtual plane, issuing warnings or corrections based on predetermined values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual trial and error method is used to verify teaching positions, then measurement capability is provided, but productivity decreases and time is lost
Solution Approach 1:
The patent replaces manual mechanical verification with an automated computer-based system that calculates positional deviations using coordinate data. The system automatically computes distances from teaching positions to the reference plane and compares them against threshold values, eliminating the need for manual trial-and-error verification while maintaining measurement accuracy.
Solution Approach 2:
The system performs self-verification by automatically acquiring teaching position data, calculating deviations from the reference plane, and generating warning outputs without requiring external manual intervention. The automated calculation and comparison process enables the system to verify its own teaching accuracy, improving productivity while maintaining verification capability.
2Productivity
If automated verification system is implemented, then productivity improves, but device complexity increases
Solution Approach 1:
The system integrates multiple functions into a single automated verification device: it acquires teaching position data, calculates three-dimensional coordinates, determines reference planes from teaching lines, computes positional deviations, and generates warning outputs. This multi-functional integration improves productivity while managing complexity through consolidation rather than proliferation of separate components.
Solution Approach 2:
The patent introduces a computer as an intermediary that mediates between the teaching operation and the verification process. The computer automatically processes coordinate data, performs plane calculations, and generates warnings, serving as an intelligent mediator that simplifies the overall system architecture while enabling automated verification and improving productivity.
3Ease of operation
If teaching positions are verified manually, then ease of operation is maintained, but loss of time increases
Solution Approach 1:
The system performs preliminary verification by automatically calculating and comparing teaching position deviations before the actual robot execution. The automated system pre-identifies positional errors and generates warnings in advance, maintaining operational simplicity while eliminating time-consuming manual trial-and-error verification processes.
Data Source
AI summary
A robot teaching device includes a processing unit for performing processing to warn or correct positional deviation of teaching points or teaching lines. The processing unit includes a teaching position acquisition unit for acquiring four or more teaching positions from a set of target teaching points or a set of target teaching lines, a normal vector calculation section which calculates a normal vector satisfying the set of teaching positions, a distance calculation section which calculates a distance between two teaching positions most distant in the normal vector direction from among the set of teaching positions, and a first warning command section which issues a command, based on a distance between the two teaching positions which are most distant, to warn that the teaching points or teaching lines corresponding to the teaching positions have deviated from an actual plane of a workpiece.