Robot Teaching Point Generation Using Laser Sensor Search Points
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Solution Overview
Problem
Setting teaching points for robot apparatuses, such as those used in arc welding, is time-consuming and requires high skill levels, especially when weld lines include curves, and existing methods that use laser sensors for path correction still necessitate pre-determined teaching points.
Innovation Solution
A teaching point generation apparatus and method that automatically sets teaching points by detecting operation positions with a sensor, calculating search points, and driving the robot to these points, allowing for precise positioning along an operation line.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual teaching operation is performed to set teaching points precisely, then manufacturing precision is improved, but loss of time increases and ease of operation deteriorates
Solution Approach 1:
The patent replaces the manual mechanical teaching operation with an automated optical measurement system. A laser sensor automatically measures the workpiece surface to determine teaching point positions, eliminating the need for manual operator intervention while maintaining high positioning accuracy.
Solution Approach 2:
The system enables self-service by allowing the robot to automatically acquire teaching points through sensor-based workpiece measurement. The robot autonomously moves to calculated search points, measures the workpiece geometry, and determines teaching point positions without external operator assistance.
2Manufacturing precision
If manual teaching operation is performed to set teaching points precisely, then manufacturing precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces the manual mechanical teaching operation with an automated optical measurement system. A laser sensor automatically measures the workpiece surface to determine teaching point positions, eliminating the need for manual operator intervention while maintaining high positioning accuracy.
Solution Approach 2:
The system enables self-service by allowing the robot to automatically acquire teaching points through sensor-based workpiece measurement. The robot autonomously moves to calculated search points, measures the workpiece geometry, and determines teaching point positions without external operator assistance.
3Manufacturing precision
If laser sensor is used for operation path correction, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The laser sensor serves multiple functions: it is used both for workpiece geometry measurement to determine teaching point positions and for operation path correction during welding. This multi-functionality reduces the need for separate systems while maintaining high precision.
Solution Approach 2:
The system implements feedback by using the laser sensor to continuously measure the workpiece surface during operation. The measured positions are fed back to correct the operation path in real-time, ensuring high manufacturing precision while using an integrated sensor system.
4Manufacturing precision
If many teaching points are set along curved weld lines, then manufacturing precision is improved, but loss of time increases
Solution Approach 1:
The patent replaces the manual mechanical teaching operation with an automated optical measurement system. A laser sensor automatically measures the workpiece surface to determine teaching point positions, eliminating the need for manual operator intervention while maintaining high positioning accuracy.
Solution Approach 2:
The system achieves continuous useful action by automatically measuring the entire workpiece surface and continuously determining teaching point positions along the weld line. This eliminates the intermittent manual teaching process and enables rapid acquisition of multiple teaching points without operator intervention.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables rapid and accurate setting of teaching points without requiring advanced operator skills, reducing operation time and improving precision, even on complex weld lines.
Implementation Method 1
a laser sensor is arranged on the welding torch and the operation path is corrected while welding is performed
Implementation Method 2
a laser sensor detects the operation position to be welded
Data Source
AI summary
A robot control device includes a search point calculation unit that calculates the position of a search point on the basis of at least one teaching point; and a command unit that drives a robot such that the position of the robot corresponds to the search point. The robot control device includes a teaching point setting unit that sets the positions of the teaching points on the basis of a working position detected by a laser sensor. The robot control device sets the positions of a plurality of teaching points arranged along a work line by repeating: the calculation of the position of the search point by the search point calculation unit; the driving of the robot by the command unit; and the setting of the positions of the teaching points by the teaching point setting unit.