Robot Teaching Apparatus Using Physical Measurement Hand
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing offline robot teaching techniques fail when the mock environment recreated using CAD data differs from the real-world environment, leading to inconsistencies in operation performance, particularly in gripping positions and forces.
Innovation Solution
A robot teaching apparatus and method that measures the state of a mechanism's action on a target object using a teaching hand with a shape and function equivalent to a robot hand, generating and recording operation instructions to ensure consistency between the teaching and real-world environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If offline teaching is performed using a calculator with CAD data, then teaching efficiency is improved and robots do not need to be used exclusively for teaching, but the mock environment may differ from the real-world environment leading to teaching failures
Solution Approach 1:
The patent changes the fundamental parameter of the teaching environment from virtual CAD-based simulation to physical measurement using laser scanners and other measuring devices. By measuring actual workpieces and environments, the system obtains real-world geometric data that accurately reflects the physical conditions, thereby resolving the discrepancy between mock and real environments while maintaining high teaching efficiency.
Solution Approach 2:
Instead of creating virtual copies from CAD data, the system creates accurate digital copies by scanning and measuring actual physical workpieces and environments. This copying process captures the true geometry and characteristics of the real-world objects, ensuring that the teaching data reflects actual conditions rather than idealized CAD models.
2Ease of operation
If CAD data is used to reproduce the mock environment, then teaching can be performed without actual robots, but errors in CAD data and mechanics reproduction cause inconsistencies in gripping positions and forces
Solution Approach 1:
The patent replaces the mechanical system of manual teaching operations with an automated measurement and data processing system. Laser scanners, cameras, and computer processing algorithms substitute for manual measurement and programming, eliminating human error while maintaining ease of operation. The system automatically captures precise geometric data and generates teaching programs without requiring operators to manually measure and calculate gripping positions.
Solution Approach 2:
The system introduces measuring devices and computer processing as intermediaries between the physical workpiece and the robot teaching program. These intermediaries accurately transfer geometric information from the real workpiece to the teaching system, serving as a reliable bridge that eliminates the inaccuracies inherent in direct manual teaching or CAD-based virtual teaching.
3Reliability
If a teaching hand with shape and function equivalent to robot hand is used, then the teaching environment aligns with the real-world environment, but the device complexity increases
Solution Approach 1:
The teaching hand is designed with multi-functionality, serving both as a measurement tool and as a teaching tool. It can measure workpiece geometry, detect features, and simultaneously serve as the actual robot hand for execution. This universal design eliminates the need for separate measurement devices and teaching fixtures, reducing overall system complexity while maintaining environment consistency.
Solution Approach 2:
The teaching hand performs self-measurement and self-teaching functions. By equipping the robot hand itself with measurement capabilities, the system eliminates the need for external measurement devices and separate teaching apparatus. The hand measures and teaches itself, simplifying the overall system architecture while ensuring that the teaching environment perfectly matches the real-world operation environment.
Data Source
AI summary
A robot teaching apparatus for teaching an operation of a robot measures a state of an action of a mechanism on a target object while the mechanism is acting on the target object. The mechanism has a shape or a function corresponding to a hand unit of the robot. The robot teaching apparatus generates an operation instruction for the robot based on the measured state, and records the generated operation instruction.