Robot Tool Mastering via Motion-Based Reference Direction Alignment
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Solution Overview
Problem
The process of mastering a processing tool mounted on a robot's arm, especially without a mark or dedicated jig, is time-consuming and labor-intensive, requiring alignment of the robot's reference direction with the processing tool's reference direction.
Innovation Solution
A method that involves controlling the driving units of the processing tool to obtain reference direction information from the robot's movement, allowing for alignment of the processing tool's reference direction with the robot's reference direction, thereby simplifying the mastering process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mark is attached to the hand arm and a dedicated jig is used for mastering, then the mastering precision can be improved, but the device complexity and cost increase
Solution Approach 1:
The patent extracts the mark from the processing tool (hand arm) and the dedicated jig from the mastering system, using only the robot arm itself for mastering. The method uses the robot arm's own movement and positioning capabilities to establish reference directions without requiring external marks or specialized equipment, thereby reducing device complexity while maintaining mastering precision through computational methods.
Solution Approach 2:
The robot arm performs mastering using its own built-in capabilities (driving units, position detection) without requiring external marks or dedicated jigs. The system uses its inherent movement and positioning functions to self-determine reference directions, making the mastering process self-sufficient and eliminating the need for additional equipment.
2Manufacturing precision
If a mark is attached to the hand arm and a dedicated jig is used for mastering, then the manufacturing precision can be improved, but the ease of manufacture deteriorates
Solution Approach 1:
The patent removes the requirement for attaching marks to the hand arm and for manufacturing dedicated jigs, simplifying the manufacturing process. The mastering is achieved through software-based methods using the robot arm's existing hardware, making the system easier to manufacture and maintain while preserving precision through computational alignment of reference directions.
Solution Approach 2:
The patent replaces expensive, complex physical components (marks, dedicated jigs) with a software-based mastering method that uses the robot arm's existing, inexpensive positioning capabilities. This approach reduces manufacturing costs and complexity while maintaining the required precision through information processing rather than physical alignment aids.
3Reliability
If the robot and processing tool reference directions are aligned using traditional methods, then the reliability of the mastering can be improved, but the time and effort required increases
Solution Approach 1:
The patent replaces the mechanical alignment process (using physical marks and jigs for manual alignment) with an information-based system that uses the robot arm's movement data and position information to computationally determine and align reference directions. This substitution dramatically reduces the time and effort required while maintaining reliability through precise digital measurement and calculation.
Solution Approach 2:
The patent changes the mastering approach from physical parameter alignment (mechanical positioning of marks and jigs) to information parameter processing (using position data, movement trajectories, and computational methods). This parameter transformation enables faster, more reliable mastering by leveraging the robot arm's precise control system and digital measurement capabilities rather than manual mechanical alignment.
Data Source
AI summary
Provided is a mastering method that can be easily carried out with respect to a processing tool mounted to an arm tip portion of a robot having a driving shaft. The present invention provides a processing tool mastering method for mastering a processing tool by: controlling a driving unit of a multi-joint robot which carries, at an arm tip portion, a processing tool for performing a predetermined process on a workpiece and which is provided with a plurality of driving units for driving one or a plurality of driving shafts; and controlling a processing position of the processing tool with respect to the workpiece. The mastering method comprises obtaining, from the movement of the robot, reference direction information which is information pertaining to a reference direction of the robot, and carrying out mastering of the processing tool on the basis of the reference direction information thus obtained.