Teaching Line Correction Using Reference Plane Alignment
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Solution Overview
Problem
Existing industrial robot teaching technologies face challenges in accurately correcting teaching lines due to errors in the correlation of reference regions and the inability to detect certain reference region positions, leading to inaccurate and unstable correction procedures.
Innovation Solution
A teaching line correcting apparatus and method that sets and detects reference positions on a workpiece, defines planes through these positions, calculates corrective values to align reference regions with an origin, and corrects teaching lines using these values, even if one reference region is undetected, thereby reducing error and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a rigid body transformation matrix is determined to transform points on workpiece model into measured workpiece points, then teaching data can be generated, but errors occur when the correlation of reference regions differs from the origin, leading to inaccurate teaching line correction
Solution Approach 1:
The patent segments the reference region correlation problem into two independent components: (1) correlation from the origin to each reference region, and (2) relative correlation between reference regions. By calculating corrective values for each segment separately and combining them, the system achieves accurate teaching line correction even when overall reference region correlation differs from the origin.
Solution Approach 2:
The patent introduces the origin as an intermediary reference point. Instead of directly correlating all reference regions to each other, the system correlates each reference region to the origin independently, then uses the origin as a mediator to establish the final teaching line. This intermediary approach isolates errors and enables precise correction.
2Reliability
If reference regions are used for teaching line correction, then robot positioning can be adjusted, but the system fails when any reference region position cannot be detected
Solution Approach 1:
The patent implements partial action by allowing the teaching line correction to proceed using only the detectable reference regions. The system calculates corrective values based on available reference regions (one or two regions) rather than requiring all three regions to be detected. This partial approach maintains system reliability even when detection fails for some regions.
Solution Approach 2:
The patent prepares for potential detection failures by designing a correction system that can handle missing reference region data. The corrective value calculation methodology is designed beforehand to accommodate scenarios where one or two reference regions are undetected, cushioning against detection failures and ensuring the system remains operational.
3Manufacturing precision
If multiple reference regions are used for correction, then accuracy can be improved, but the system complexity increases
Solution Approach 1:
The patent changes the parameter approach by using a standardized corrective value calculation method that works consistently whether one, two, or three reference regions are detected. The system adjusts the number of parameters (detectable reference regions) without changing the fundamental correction methodology, thereby improving precision adaptively while maintaining system simplicity.
Data Source
AI summary
A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.