Robotic Lead-Through Teaching via Replaceable Force Sensor
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Solution Overview
Problem
Conventional robotic teaching methods require extensive operational button manipulation, are time-consuming, and prone to errors, especially for users unfamiliar with the process, and lack a dynamic simulation system for verification, making them inefficient and difficult to implement, particularly in industrial settings.
Innovation Solution
A method and device for robotic direct lead-through teaching that uses a replaceable lead-through teaching member with a six-axis force sensor to automatically obtain velocity and coordinate information, allowing users to manually guide the robot and record motion points without needing a teach pendant, thus simplifying the teaching process and enhancing precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional teaching by repetitions using operational buttons is used, then the robot can be taught positions and directions, but the process is time-consuming and requires extensive operational button manipulation
Solution Approach 1:
The patent replaces the mechanical button-operating system with a direct manual manipulation system. Users directly hold and move the robot arm to teach positions, eliminating the need for operational buttons and complex coordinate system manipulations. This substitution dramatically reduces teaching time while maintaining position and direction accuracy.
Solution Approach 2:
The patent introduces a lead-through teaching device as an intermediary between the user and the robot control system. This device includes sensors that detect user manipulation forces and automatically convert them into robot motion commands, serving as a mediator that translates physical guidance into precise robotic movements without requiring users to understand complex control operations.
2Ease of operation
If operational buttons for axial displacements and rotations are used, then the robot movement path can be defined, but plenty of operation time is required for memorizing and establishing relationships between buttons and robot movement
Solution Approach 1:
The lead-through teaching device enables the system to teach itself by automatically detecting user manipulation through sensors and converting these actions into robot motion commands. The system self-adapts to user intentions without requiring users to memorize button functions or establish complex relationships between operational buttons and robot movements.
Solution Approach 2:
The patent replaces the button-based mechanical control interface with a direct physical manipulation interface. Users naturally guide the robot arm through desired paths, and the system automatically captures this guidance, eliminating the need to learn and memorize multiple operational buttons for axial displacements and rotations.
3Reliability
If conventional robotic teaching is used, then teaching information can be stored in the robot's memory device, but the process lacks a dynamic simulation system for verification
Solution Approach 1:
The patent incorporates real-time feedback mechanisms where the lead-through teaching device continuously monitors user manipulation forces and robot responses during the teaching process. This feedback loop allows immediate verification of teaching information accuracy, enabling users to correct errors on the spot rather than discovering them after programming is complete.
Solution Approach 2:
The system performs preliminary verification of teaching information through real-time sensing and feedback during the manual manipulation process itself. By detecting forces and moments during guidance, the system validates teaching data as it is being recorded, preventing erroneous information from being stored in the first place.
4Ease of operation
If manufacturer's teach pendant is used, then the robot can be taught, but the user needs to manipulate buttons and nodes which requires familiarity with computer operations
Solution Approach 1:
The patent replaces the electronic teach pendant interface with a direct physical manipulation interface. Users simply hold and move the robot arm through desired positions, and the system automatically records the motion. This eliminates the need for teach pendants, buttons, nodes, and computer operation knowledge, making the system accessible to users without technical training.
Solution Approach 2:
The lead-through teaching device enables the robot to be taught through intuitive physical guidance alone. The system automatically handles all data acquisition, processing, and storage functions, serving itself without requiring users to operate complex interfaces or understand computer operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies the teaching process by allowing direct manual guidance of the robot, reducing the risk of errors, and enabling precise recording of motion points, making it applicable to various industrial robots without requiring adjustments to the internal control module or motor model, thereby improving teaching efficiency and accuracy.
Implementation Method 1
a force sensor replaceably mounted at the robot arm and having six-axis load information
Implementation Method 2
a velocity information obtaining step of obtaining the velocity information by integrating the six-axis load information
Implementation Method 3
a coordinate information obtaining step of obtaining the coordinate information by integrating the velocity information of the robot
Data Source
AI summary
A device for robotic direct lead-through teaching includes a robot, a replacing member and a lead-through teaching member. The robot has an operation member coupled with the replacing member. The lead-through teaching member mounted replaceably at the replacing member has a force sensor. The force sensor has six-axis load information. A path teaching is executed manually upon the operation member of the robot so as to store coordinate information. In additional, a method for robotic direct lead-through teaching is also provided.