Weaving Signal Frequency Correction to Suppress Robot Resonance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots resonate during weaving operations, leading to degraded work quality, particularly in welding processes.
Innovation Solution
A device and method that generate signals for a weaving operation, including a weaving signal generation unit, time-series data acquisition, frequency characteristic acquisition, resonance determination, and correction unit to adjust the frequency of the weaving signal when resonance is detected, thereby stabilizing the operation and enhancing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot swings the tool during weaving operation, then the tool can be moved along the work path with intersecting direction, but the robot resonates and work quality degrades
Solution Approach 1:
The system acquires time-series data of the tool's amplitude value during weaving operation, determines resonance occurrence based on frequency characteristics, and feeds back this information to correct the weaving signal by changing its frequency, thereby eliminating resonance and improving work quality
Solution Approach 2:
The system changes the frequency parameter of the weaving signal to avoid resonance. By acquiring frequency characteristics of the robot's response and comparing with the weaving signal frequency, the system adjusts the signal frequency to a value that does not cause resonance, thus maintaining both weaving capability and work quality
2Productivity
If the robot executes weaving operation with swinging tool, then the operation can be performed, but resonance occurs at the weaving signal frequency
Solution Approach 1:
The system continuously monitors the robot's frequency characteristics during weaving operation and provides feedback to detect resonance. When resonance is detected at the weaving signal frequency, the system corrects the signal to change the frequency, thereby stabilizing the operation and improving reliability
Solution Approach 2:
The system analyzes the frequency characteristics of the robot's mechanical vibration response during weaving operation. By comparing the vibration frequency with the weaving signal frequency, the system identifies resonance conditions and adjusts the signal to avoid exciting resonant frequencies, thus stabilizing the operation
Data Source
AI summary
A device includes: a weaving signal generation unit that generates a weaving signal for causing a robot to swing a tool; a chronological data acquisition unit for acquiring chronological data of the amplitude value of the tool when the robot is caused to execute a weaving motion according to the weaving signal; a frequency characteristic acquisition unit for acquiring a first frequency characteristic of chronological data; a resonance determination unit for determining, on the basis of the first frequency characteristic, whether or not the robot is resonating at the frequency of the weaving signal generated by the weaving signal generation unit; and a correction unit for correcting the weaving signal so as to change frequencies if the robot is determined to be resonating.