Robot Welding Teaching Using Feature Points and Tool Angles
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Solution Overview
Problem
Existing welding robots require skilled operators to teach motion considering the relative positions and postures of a welding tool and workpiece, making it difficult for unskilled personnel to perform effective robot teaching.
Innovation Solution
A robot system that utilizes feature point teaching, input receiving, posture determination, and program generation units to simplify the teaching process by storing feature point positions, receiving tool angle inputs, and generating robot programs based on these positions and postures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If lead-through teaching is used to teach welding robot motion, then the robot can achieve stable welding, but the operator requires a high level of skill and the teaching process becomes complex
Solution Approach 1:
The teaching process is segmented into two independent parts: (1) teaching only feature point positions using simple lead-through teaching, and (2) separately setting tool postures using angle values. This segmentation allows operators to teach positions without needing to understand complex posture calculations, while still achieving stable welding through the combined use of positioned feature points and angled tool orientations.
Solution Approach 2:
Angle values serve as an intermediary parameter that bridges the simple position teaching and the required tool posture. Instead of directly teaching complex 6-axis robot postures, the system uses angle values as a mediator to determine tool orientation relative to the workpiece, simplifying the operator's task while maintaining welding quality.
2Ease of operation
If traditional lead-through teaching is used for robot motion, then complete motion control is achieved, but the device complexity increases and requires skilled operators
Solution Approach 1:
The posture determination aspect is extracted from the position teaching process. The system separates position teaching (done through simple lead-through teaching of feature points) from posture determination (done through separate angle value input). This extraction simplifies the teaching interface while maintaining complete motion control through the program generation unit that combines both elements.
3Manufacturing precision
If detailed robot motion teaching is performed, then welding precision is maintained, but the time required for teaching increases
Solution Approach 1:
The system performs preliminary determination of tool posture based on angle values before actual welding execution. By pre-calculating postures from simple angle inputs and stored feature points, the system eliminates the need for time-consuming detailed motion teaching while ensuring welding precision is maintained through the program generation unit that combines position and posture data.
Data Source
AI summary
Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.