Teaching Pendant Tilt Control for Intuitive Robot Posture Teaching

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Solution Overview

Problem

Current robotic systems lack an efficient and intuitive method for instructing robots to change their posture during teaching operations, relying on complex coordinate frames and requiring additional accessories, which complicates the programming and operation of robotic tasks.

Innovation Solution

A robot instructing apparatus featuring a teaching pendant with a display, an inclination sensor, and circuitry that generates movement instructions based on the pendant's inclination, allowing users to intuitively change the robot's posture through inclination and orientation, eliminating the need for additional accessories and simplifying the teaching process.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If traditional robotic teaching methods using complex coordinate frames are used, then the robot can perform precise tasks, but the programming and operation becomes complicated and requires additional accessories

Engineering Contradiction:

Improveease of robot teachingVSAvoidcomplexity of programming

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent replaces complex mechanical coordinate frame calculations with a magnetic field-based sensing system. The sensing device detects the orientation of the teaching pendant through magnetic field interactions, automatically calculating the desired robot posture without requiring manual coordinate transformations. This substitution of mechanical calculation methods with magnetic sensing simplifies the teaching operation significantly.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The teaching pendant serves as an intermediary device between the operator and the robot. It incorporates a magnetic sensor that detects the orientation of an external magnetic source (such as a magnetic stick or marked surface), translating this physical orientation into robot movement commands. This intermediary device abstracts away the complex coordinate mathematics from the operator.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If additional accessories are used for robot teaching, then the teaching precision can be improved, but the device complexity and cost increase

Engineering Contradiction:

Improveteaching precisionVSAvoidnumber of accessories

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The teaching pendant integrates multiple functions into a single device: it contains a magnetic sensor for detecting orientation, a user interface for selecting teaching modes, and communication interfaces for connecting to the robot controller. This multi-functional design eliminates the need for separate accessories while maintaining teaching precision through the magnetic field-based orientation detection.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system uses the Earth's magnetic field and simple magnetic sources (like a magnetic stick attached to the robot or marked on the workpiece) to provide reference orientations. The teaching pendant self-calibrates by detecting these magnetic references, eliminating the need for complex external calibration equipment or additional precision accessories.

Inventive Principle:

Principle #25Self-service

3Manufacturing precision

If complex coordinate frame calculations are required, then the robot positioning accuracy is maintained, but the operation time and training requirements increase

Engineering Contradiction:

Improverobot positioning accuracyVSAvoidteaching time

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The patent replaces time-consuming manual coordinate frame calculations and transformations with automatic magnetic field-based orientation detection. The magnetic sensor continuously tracks the pendant's orientation relative to magnetic references, automatically computing the desired robot posture in real-time without requiring operator intervention in complex mathematics, thus reducing teaching time while maintaining positioning accuracy.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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

Enables efficient and intuitive modification of robot postures, reducing the complexity of programming and operation by allowing users to set and store teaching points, enabling robots to perform tasks autonomously without requiring knowledge of robotic programming.

Implementation Method 1

an inclination sensor configured to output an inclination of the teaching pendant with respect to at least one horizontal axis

Methodology Applied

Scientific EffectGravitation: Gravitation

Implementation Method 2

an orientation sensor configured to output an orientation of the teaching pendant with respect to a vertical axis

Methodology Applied

Scientific EffectMagnetic field detection: Magnetic Field

Data Source

PatentUS11279044B2Robot instructing apparatus, teaching pendant, and method of instructing a robot

Publication Date: 2022.03.22 YASKAWA AMERICA INC

AI summary

A robot instructing apparatus includes a teaching pendant having a display and an inclination device. The inclination device outputs an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis. The robot instructing apparatus also includes at least one processor that generates movement instructions to change a posture of the robot based on the inclination of the teaching pendant output by the inclination device during a teaching operation in which the movement instructions are generated.