Wireless Robot Teaching With Tool-Tip Coordinate Alignment
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Solution Overview
Problem
Existing robot teaching systems pose safety risks for operators due to the need for close proximity during teaching operations and can result in inaccurate robot movements when the hand guide unit is detached or when tools have complex shapes, making it difficult to reference the tool's distal end point.
Innovation Solution
A robot teaching system with a hand guide unit that includes a wireless communication unit, a relative position setting unit, and a coordinate calculation unit, allowing for remote operation and accurate movement of the robot by setting coordinates based on the operation direction of the stick, even when the hand guide unit is detached, and accommodating tools with complex shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the hand guide unit is attached to the robot for teaching operations, then the robot can be controlled intuitively through direct force application, but the operator's safety is compromised due to close proximity requirements
Solution Approach 1:
The patent replaces the mechanical connection between the hand guide unit and robot with a wireless communication system. The hand guide unit communicates with the robot controller via wireless signals, eliminating the need for physical attachment while maintaining control functionality. This allows the operator to remain at a safe distance while still performing intuitive teaching operations through the stick interface.
2Object-affected harmful factors
If the hand guide unit is detached from the robot to ensure safety, then operator safety is improved, but coordinate alignment between the hand guide unit and robot becomes inaccurate
Solution Approach 1:
The patent implements preliminary coordinate registration by having the operator manually move the robot to specific positions and record the corresponding hand guide unit stick positions. This pre-established coordinate mapping allows the system to accurately translate stick movements to robot movements even when detached, maintaining coordinate alignment accuracy without requiring physical attachment during operation.
3Measurement precision
If a force sensor is assembled in the hand guide unit to detect force direction, then teaching operation accuracy is improved, but device complexity and handling difficulty increase
Solution Approach 1:
The patent makes the operator aware of the applied force direction through tactile feedback from the stick itself, rather than using electronic sensors. The stick's mechanical properties and the operator's sense of force application provide sufficient information for accurate teaching operations, eliminating the need for complex force sensing electronics while maintaining measurement precision.
4Object-affected harmful factors
If wireless communication is implemented for remote operation, then operator safety is improved, but connection setup time and operational reliability may be affected
Solution Approach 1:
The patent establishes the wireless connection between the hand guide unit and robot controller before the teaching operation begins. This preliminary connection setup allows the system to verify communication reliability and configure parameters in advance, ensuring stable and reliable wireless communication during the actual teaching operation without interruptions or reconnection issues.
Data Source
AI summary
A robot teaching system includes a hand guide unit including a stick for use in a teaching operation of a robot, and a wireless communication unit configured to communicate by radio with a teach pendant; a relative position setting unit configured to set relative position information between the hand guide unit and the robot; and a coordinate calculation unit configured to calculate, based on the relative position information, coordinates having as an origin a flange surface of the robot or a distal end point of a tool attached to the robot, in such a manner as to correspond to an operation direction of the stick.