3D Robot Off-Line Teaching with Automatic Point Registration
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Solution Overview
Problem
Existing off-line teaching methods for robots, particularly those using simulation, are time-consuming due to the need for manual operation of virtual teaching panels and the difficulty in confirming robot models displayed in small sizes.
Innovation Solution
A programming apparatus that allows for automatic registration of teaching positions and motion conditions, enabling the creation of motion programs for robots through a user-friendly interface that reduces the need for manual operation and enhances visibility of the robot model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If simulation-type off-line teaching is used to create motion programs, then the actual machine need not be operated and 3D models can be created in virtual space, but manual operation of virtual teaching panels is required which is very time-consuming
Solution Approach 1:
The patent uses a camera to capture the actual robot and workpiece, then creates a 3D model that copies the real system. This virtual model can be operated and taught without affecting the actual machine, eliminating the need for time-consuming manual teaching operations while maintaining teaching accuracy
Solution Approach 2:
The patent replaces manual mechanical operation of teaching panels with automated image processing and 3D modeling. The camera-based system automatically captures positions and creates teaching data, substituting the mechanical teaching panel operation with an automated visual system
2Ease of operation
If the robot model and teaching operation panel are displayed on the screen, then off-line teaching can be performed, but the robot model must be displayed in a small size making it difficult to confirm, which increases time and effort required
Solution Approach 1:
The patent transitions from 2D screen display to 3D virtual modeling. The 3D model of the robot and workpiece can be viewed from multiple angles and magnified without the constraints of a fixed 2D screen layout, improving visibility while maintaining off-line teaching capability
Solution Approach 2:
The patent creates a detailed 3D copy of the actual robot system that can be manipulated and viewed in virtual space. This copied model provides enhanced visibility and detail without requiring the physical robot to be present, solving both the off-line teaching requirement and the visibility issue
Data Source
AI summary
An object is to achieve simulation-type off-line teaching which is not time-consuming. A programming apparatus 1 according to one aspect of the present disclosure is a programming apparatus for teaching a motion program of a robot off-line, which includes an operation unit 3, a display unit 4 configured to display a 3D model of the robot so as to repeat movement and stop in accordance with a user operation on the operation unit, a recording unit 26 configured to record a plurality of teaching candidate points one after another in accordance with the stop of the 3D model, a teaching point registration unit 27 configured to register, as teaching points, a plurality of teaching candidate points selected from the plurality of recorded teaching candidate points in accordance with a user instruction, and a creation unit 28 configured to create the motion program based on the plurality of registered teaching points.