Robot Teaching for Internal-Space Work Without Opening Interference
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Solution Overview
Problem
Automatically generated teaching data for robots is not suitable for actual work environments, leading to manufacturing errors and decreased efficiency, particularly when working in internal spaces with openings, as it requires attention to potential interference between the robotic arm and the edge of the opening during teaching.
Innovation Solution
A method and system that uses a robotic arm with a controller to perform jogging or inching operations while determining the possibility of interference with the edge of an opening, allowing the arm to enter the internal space and perform tasks without manual attention to interference, and includes features like teach-point setting and warning systems to evade potential collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If teaching is performed by operating a teaching unit manually, then the robot can be taught to perform work inside internal spaces, but the operator must pay attention to potential interference between the robotic arm and the edge of the opening, increasing operational complexity and time consumption
Solution Approach 1:
The system performs self-checking of arm interference with opening edges during teaching operations. The robot controller automatically determines whether the arm part interferes with the opening edge based on pre-stored position data, eliminating the need for manual verification by the operator and reducing operational complexity
Solution Approach 2:
The system provides automatic feedback to the operator regarding potential arm interference with opening edges. The robot controller determines interference possibilities and notifies the operator, enabling informed decision-making without requiring manual spatial analysis during teaching operations
2Loss of time
If offline automatically-generated teaching data is used, then teaching time is reduced, but the data is not suitable for actual work due to manufacturing errors and assembling errors, decreasing work efficiency
Solution Approach 1:
The system performs preliminary determination of arm interference with opening edges during the teaching phase. By pre-storing opening edge position data and checking for interference before actual work execution, the system ensures both teaching efficiency and work suitability without requiring extensive manual re-teaching
Solution Approach 2:
The system adjusts teaching parameters dynamically based on actual workpiece variations. By incorporating real-time determination of arm interference and adapting teaching data accordingly, the system maintains high work efficiency despite manufacturing and assembling errors in actual workpieces
Data Source
AI summary
A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.