Welding Robot Torch Cable Bend Evaluation for Arm Interference
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Solution Overview
Problem
Current systems fail to accurately determine the state of interference between a torch cable and the arm of a welding robot, leading to potential contact issues during operation that can increase welding-wire-feed resistance or damage the torch cable.
Innovation Solution
A device and method that obtain posture information for the welding robot, calculate the degree of bend in the torch cable due to arm contact, and output evaluation information using reference and area information to determine the extent of interference, allowing for accurate assessment of interference states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simple determination of interference occurrence is used, then the evaluation process is simplified, but the accuracy of determining the state of interference between the torch cable and the arm deteriorates
Solution Approach 1:
The invention changes the evaluation parameter from a simple binary determination (interference occurrence yes/no) to a quantitative parameter (bend radius of the torch cable). By calculating the actual bend radius and comparing it with a predetermined threshold value, the system achieves both simplified evaluation process and accurate interference state determination. The bend radius serves as a continuous parameter that reflects the degree of interference.
2Reliability
If the torch cable flexibility is considered, then the actual operation feasibility is improved, but the simplicity of interference determination deteriorates
Solution Approach 1:
The invention introduces a predetermined threshold value as an intermediary parameter between the torch cable bend radius and the interference determination. The threshold value encapsulates the flexibility characteristics of the torch cable, allowing the system to assess operation feasibility by simply comparing the calculated bend radius with this threshold, rather than dealing with complex flexibility models directly.
Data Source
AI summary
In an interference evaluation device, an axis value obtaining unit obtains posture information indicating a posture to be taken by a welding robot, on the basis of teaching information for teaching an operation to the welding robot. A reference point calculation unit, an extension direction calculation unit, and an evaluation value setting unit generate evaluation information indicating a degree of bend of a torch cable, which is caused by the torch cable contacting an arm of the welding robot, by using the posture information obtained by the axis value obtaining unit. The torch cable is included in a welding tool attached to an end of the arm and extending in a direction away from a welding torch of the welding tool. An evaluation value output unit outputs the evaluation information generated by the reference point calculation unit, the extension direction calculation unit, and the evaluation value setting unit.