Robot Direct Teaching Point Setup for Easier Program Generation
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Solution Overview
Problem
In direct teaching operations for robots, the process of setting and managing multiple teaching points is complex, making it difficult for operators to understand and fine-tune the position and orientation of robots, leading to increased workloads and time required to generate operation programs.
Innovation Solution
A teaching device and computer program that includes a display part, a teaching point setting unit, and a command generation unit to facilitate the direct teaching of robot positions and orientations, allowing for the generation of operation commands based on set teaching points and displaying these commands in a simplified format.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple teaching points are collectively stored in direct teaching operation, then the operation program can be generated efficiently, but the work becomes complicated due to setting parameters for determining the number and interval of teaching points
Solution Approach 1:
The system automatically determines the number and interval of teaching points based on the robot's movement trajectory and operation conditions, eliminating the need for operators to manually set these parameters. The teaching point setting unit autonomously generates teaching points at appropriate intervals during the robot's movement from the first position to the second position.
2Ease of operation
If the operator directly changes the position and orientation of the robot by moving components, then teaching points can be set easily, but finely adjusting the position and orientation becomes difficult
Solution Approach 1:
The system replaces manual mechanical adjustment with automated computational control. The teaching point setting unit uses the robot's movement data and operation conditions to automatically calculate and set precise teaching points, substituting the mechanical direct teaching operation with an automated information processing system that achieves both ease of operation and high precision.
3Loss of information
If operation commands are displayed in detailed format, then all operation commands can be viewed, but determining operation commands including teaching points set by direct teaching operation becomes difficult
Solution Approach 1:
The display unit segments the operation program into distinct portions, with special visual markers indicating where teaching points set by direct teaching operation are located. This segmentation allows operators to quickly identify teaching point commands among other operation commands while still viewing the complete operation program, solving both information completeness and identification ease.
4Ease of operation
If teaching points are set by directly operating robot components, then the robot can be positioned roughly, but time is required to finely modify the position and orientation after teaching
Solution Approach 1:
The system performs preliminary automated calculation of precise teaching point positions during the direct teaching operation itself. By pre-calculating and setting accurate teaching points based on the robot's movement trajectory and operation conditions, the need for subsequent fine adjustment is eliminated or significantly reduced, saving time while maintaining ease of operation.
Data Source
AI summary
A display unit of this robot control device displays thereon an operation program that includes a direct training operation command prior to recording of positional information of a training point. When a worker starts a direct training operation by selecting a direct training operation command, a training point setting unit sets up a training point on the basis of the position and posture of a robot that have been acquired during a period when the worker was moving constituent members of the robot. A command generation unit generates a robot operation command in which the positional information of the training point set up by the training point setting unit is recorded.