Robot program production system
A program generation and robot technology, applied in the direction of program control, electrical program control, program control manipulator, etc., can solve problems such as time-consuming, damage to robot peripheral equipment, and difficulty in finding and correcting which teaching point for the robot program.
Inactive Publication Date: 2006-04-05
FANUC LTD
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Problems solved by technology
[0003] In the robot program generation device according to the above-mentioned prior art, it is difficult to find out which teaching point should be corrected in the robot program generated off-line.
In order to find the teaching point, it is necessary to operate the entire robot program from the beginning, and correct the teaching point while operating the robot, so there is a problem that it takes time to correct the teaching point.
[0004] In addition, when the teaching point is missed, when the robot program is executed, the robot interferes with the workpiece or the peripheral equipment of the robot, causing damage to the robot, the workpiece, or the peripheral equipment of the robot.
Method used
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[0024] 1 is a block configuration diagram of a robot program generation device according to an embodiment of the present invention, and FIG. 2 is a diagram showing the positional relationship between the robot program generation device 1, a robot 2, and a workpiece 3 as a work object of the robot. The robot program generating device 1 shown in FIG. 1 has a programming part 10 and a robot control part 20. The programming part 10 generates a robot program for making the robot 2 perform prescribed operations such as welding, clamping, and conveying. An action performed by the robot 2 to cause the robot 2 to perform the above-mentioned prescribed work. Next, hardware configurations of the programming unit 10 and the robot control unit 20 will be described.
[0025] The programming part 10 is composed of a personal computer, for example, and has a computer body, an input device such as a keyboard or a mouse, an output device such as a display unit or a printer, and a communication ...
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A robot program production system includes: a storage block that saves pieces of information on teaching points to be taught to a robot and information on an ambient environment model representing the robot and others; a programming unit that produces off-line a robot program; and a robot control unit that controls the action of the robot so as to move the robot to a teaching point. The programming unit includes a means for determining a path, along which the robot is moved from the current position to a teaching point, which should be corrected, without interference with a work and obstacles, on the basis of the pieces of information on teaching points and the information on the ambient environment model. The robot control unit includes a means for moving the robot to the teaching point, which should be corrected, along the determined path. Information on the teaching point that should be corrected is replaced with information on an actual teaching point acquired after completion of the movement, whereby the information on the teaching point described in the robot program is corrected quickly. This results in a program capable of protecting the robot and ambient facilities from being damaged.
Description
technical field [0001] The present invention relates to a robot program generation device, in particular to a robot program generated off-line, using the generated robot program to move a robot to an actual teaching point for a designated teaching point, capturing information on the actual teaching point, A robot program generation device that corrects information on teaching points on the robot program. Background technique [0002] In the currently used robot program generation device, when the robot program generated offline is used on site, the robot program generated offline is executed in a single step from the beginning, and the robot is stopped at the teaching point of the robot immediately before the robot touches the workpiece. , perform jog feed, and correct the teaching point of the robot where the robot contacts the workpiece. Here, the teaching point of the robot refers to the position of the tip of the hand in the manipulator, and the position of the tip of t...
Claims
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IPC IPC(8): B25J9/16B25J13/00B25J9/22G05B19/42
CPCG05B19/425
Inventor 长塚嘉治小林博彦
Owner FANUC LTD