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Off-line programming system

一种编程装置、机器人的技术，应用在机械手、程序控制、计算机控制等方向，能够解决刀具加工路径困难等问题

Active Publication Date: 2013-12-18
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the prior art, in order to completely process the entire surface of the workpiece, it is necessary to obtain the position or position and posture of the tool at a large number of places on the workpiece.
Furthermore, when the surface to be machined of the workpiece includes a curved portion, it is difficult to generate the machining path of the tool so as to fit the surface of the workpiece.
Therefore, many man-hours are required to generate such a machining path

Method used

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Embodiment Construction

[0055] Embodiments of the present invention will be described below with reference to the drawings, and in the following drawings, the same reference numerals are assigned to the same components. The scales of these drawings are appropriately changed for easy understanding.

[0056] figure 1 It is a conceptual diagram of the off-line programming device according to the first embodiment of the present invention. Such as figure 1 As shown, the off-line programming device 10 mainly includes a display unit 11, such as a liquid crystal display or a CRT, and a control device 12 such as a digital computer.

[0057] according to figure 1 It can be seen that the model of the robot 13 having the tool 15 and the model of the workpiece W are respectively displayed on the display unit 11 . The positional relationship among the models of the tool 15, the robot 13, and the workpiece W corresponds to the actual positional relationship. Therefore, the off-line programming device 10 is use...

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Abstract

An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position / posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position / posture of the tool model.

Description

technical field [0001] The present invention relates to an off-line programming device for teaching a program of a robot having a tool for processing a workpiece arranged in a working space, that is, a workpiece to be processed. Background technique [0002] When machining a workpiece with a tool equipped on the robot, it is necessary to teach the movement of the robot in advance. Japanese Patent Application Laid-Open No. 5-289722 discloses a method of teaching a movement start point and a movement end point of a tool for machining a workpiece on a coating symmetry plane of the workpiece, and generating a machining path of the tool. [0003] Also, Japanese Patent No. 3500739 discloses a method of determining a part of a workpiece to be machined from the number of designated teaching points and generating a machining path. Furthermore, Japanese Patent No. 3903617 discloses a method of dividing the working area of ​​the robot with parallel lines, and calculating the operating...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/4093
CPCB25J9/1671G05B2219/40121G05B2219/45065B25J9/1664
Inventor 后平宽之
Owner FANUC LTD
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