3D Measuring Workflow for Robot Via Point Programming
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing three-dimensional measuring devices require users to manually program motion paths for robot hands, which is time-consuming and prone to errors due to the need to avoid obstacles and manage multiple via points, making it difficult to simplify the creation of robot programs.
Innovation Solution
A measuring device that determines the position and orientation of a workpiece, calculates fixed via points with specific attributes, and outputs these coordinates and attributes to a robot controller, allowing users to focus on editing path settings without worrying about the robot's motion, thereby simplifying the creation of robot programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the three-dimensional measuring device automatically calculates not only the via points but also the motion path between the via points, then the user does not need to program the motion path, but the number of via points cannot be determined unless the motion path is actually created
Solution Approach 1:
The patent segments the via points into two distinct categories: fixed via points (determined by the user based on work requirements) and intermediate via points (automatically calculated by the robot controller for path generation). This segmentation allows the user to specify only the essential via points with their attributes, while the system automatically generates the complete motion path including additional intermediate points, thus resolving the contradiction between automatic path calculation and via point determination.
2Adaptability or versatility
If the user increases or decreases the number of fixed via points, then the robot program can be adjusted, but the number of via points output by the three-dimensional measuring device and the number of via points expected by a robot controller-side program become different from each other
Solution Approach 1:
The patent extracts the attribute information (such as holding position, placing position, approach direction) from the via points and outputs it separately along with the via point coordinates. This extraction allows the robot controller to independently manage the complete via point sequence (both fixed and intermediate points) while the user only needs to specify the fixed via points and their attributes, thus resolving the contradiction between program adaptability and system complexity.
3Reliability
If manual programming of robot motion paths is required, then the user can control the robot hand's motion, but it is time-consuming and prone to errors due to the need to avoid obstacles and manage multiple via points
Solution Approach 1:
The patent implements preliminary action by having the three-dimensional measuring device pre-calculate the via points and their attributes (holding positions, placing positions, approach directions) before robot execution. The user only needs to review and confirm these pre-calculated parameters rather than programming the entire motion path from scratch. This preliminary calculation significantly reduces program creation time while maintaining operational accuracy through the structured attribute information.
Data Source
AI summary
A user can easily create a robot program. A measuring device includes a position determination processing part that determines a holding position, held by a robot hand, of a workpiece placed in a work space and determines coordinates of a fixed via point having any single attribute based on a result of measurement made by a measuring part and holding information, the fixed via point being one of an approach position of the robot hand for holding the holding position, the holding position, and a retreat position after holding, and an output part that outputs, to a robot controller, the coordinates of the fixed via point determined by the position determination processing part and attribute information showing the attribute of the fixed via point.