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Device, program, recording medium and method for preparing robot program

A robot and programming device technology, applied in the field of robot programming, can solve problems such as difficult automatic generation

Inactive Publication Date: 2008-01-09
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, in order to define the movement of the robot, the position and posture of the workpiece held on the workpiece holder, the position and posture of the robot hand when the robot grips the workpiece, and other data that are inconvenient to determine from the shape data of the workpiece are required. Programs, which are difficult to automatically generate by the programming techniques described in Patent Documents 1 and 2

Method used

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  • Device, program, recording medium and method for preparing robot program
  • Device, program, recording medium and method for preparing robot program
  • Device, program, recording medium and method for preparing robot program

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Embodiment Construction

[0044] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same reference signs are attached to the same or similar structural elements.

[0045] In addition, in the following description, position-related terms such as "relative position", "absolute position", and "reference position" are generic terms for both position and posture unless otherwise specified.

[0046] Referring to the drawings, FIG. 1 shows the basic structure of the robot programming device 10 of the present invention in a functional block diagram. The robot programming device 10 has a characteristic structure for generating a transfer operation program for causing a robot equipped with a manipulator to execute a workpiece transfer operation including at least one of an operation of mounting and removing a workpiece from a workpiece holder. That is, the robot programming device 10 includes the following parts: a workpiece feature...

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Abstract

A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.

Description

technical field [0001] The present invention relates to a robot programming device for generating a work program of a robot for conveying workpieces. The present invention also relates to a program and a recording medium for creating a workpiece transfer operation program for a robot. The present invention also relates to a robot programming method for generating a workpiece transfer operation program of a robot. Background technique [0002] Industrial robots (hereinafter referred to as robots) are used in production systems for various tasks such as welding / processing workpieces, assembling parts / machines, loading and unloading workpieces to processing machines (machine tools), and transferring workpieces between processes. Promotes a high degree of automation in the production system. When performing these tasks, the robot attaches a tool (ie, an end effector) corresponding to the content of the task on the tip of the wrist, and operates according to a specific work pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00G05B19/42
CPCG05B2219/40383G05B2219/40543G05B2219/40014G05B2219/40503G05B2219/39105B25J9/1669G05B2219/50125Y02P90/02
Inventor 二瓶亮加藤哲朗西浩次
Owner FANUC LTD
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