Offline Robot Teaching Device Segment Trajectory Correction
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Solution Overview
Problem
Existing robot programming techniques cannot correct an entire segment of a robot's operation trajectory effectively, as they either move correction points without altering the program or correct teaching points proportionally but fail to modify the entire segment of the trajectory.
Innovation Solution
An offline teaching device that displays multiple coordinate points and a line connecting them, allowing users to select two points and a coordinate system, and generates correction amounts by dragging the segment between these points, inserting the correction data into the program without altering the teaching point data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If correction points are moved to correct the program, then the trajectory can be adjusted, but the entire segment cannot be corrected
Solution Approach 1:
The patent applies segmentation by dividing the trajectory into multiple selectable segments between teaching points. Users can select specific segments (e.g., between teaching point Pi and Pj) for correction, allowing targeted modification of entire segments rather than individual points. This enables versatile segment-level correction while maintaining ease of operation through simple selection mechanisms.
2Manufacturing precision
If teaching points are corrected by proportional distribution, then position accuracy improves, but entire segment correction by one amount is not possible
Solution Approach 1:
The patent implements dynamics by providing multiple correction modes that can be dynamically selected: individual teaching point correction with proportional distribution for precision, and segment-wide correction by dragging for efficiency. The system adapts the correction method based on user selection, allowing both high precision and high efficiency operations depending on the specific correction needs.
Solution Approach 2:
The patent applies partial action by allowing users to correct only the necessary portion of the trajectory. Instead of requiring correction of all teaching points, users can select specific segments or individual points that need adjustment. This partial correction approach maintains precision where needed while avoiding unnecessary corrections elsewhere, improving overall efficiency.
3Adaptability or versatility
If multiple teaching points are selected for correction, then segment coverage increases, but operation complexity increases
Solution Approach 1:
The patent applies merging by combining multiple teaching points into a single selectable segment. Instead of requiring separate operations for each teaching point within a segment, users can select a range (e.g., from Pi to Pj) and apply correction to all intermediate points simultaneously through a single drag operation. This merging approach maintains high correction coverage while simplifying the operation to a single action.
Data Source
AI summary
An offline teaching device includes: a storage unit that stores a program; a display control unit that causes a monitor to display four or more coordinate points P1 to P6 based on teaching point data described in the program and one line connecting the four or more coordinate points P1 to P6 successively; and a correction amount generation unit that, after two coordinate points P2 and P5 are selected on the monitor from remaining coordinate points P2 to P5 except the coordinate points P1 and P6 serving as a starting point and an ending point of the line and one coordinate system is selected among a plurality of coordinate systems, generates correction amounts of the coordinate points P2 to P5 without changing the teaching point data on the basis of dragging of a segment between the selected two coordinate points P2 and P5 according to the selected coordinate system.