Robot programming device

一种机器人、搬运机器人的技术，应用在程序控制、程序控制机械手、仪器等方向，能够解决花费时间、机器人系统多工时或者时间等问题

Active Publication Date: 2007-02-07
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] When operating the robots one by one as described above, it is necessary to jog each robot little by little for the coordination of the robots, which takes a lot of time in the work.
In addition, when using the coordinated jog function, two robots can be operated at the same time, but the teaching operation when performing complex operations such as welding or deflashing in 3D space requires great skill, and it also costs money during the operation. time
In addition, in general, only 2 robots are operated in coordinated jog operation, so when 3 or more robots are required, more teaching time is required
In this way, it takes time for the teaching work, and thus requires a lot of man-hours or time for the debugging of the robot system.

Method used

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Embodiment Construction

[0022] Refer to the attached Figure 1 The present invention will be described in detail. figure 1 It is a basic configuration diagram showing a robot system that can use the robot programming device of the present invention. The robot system 10 includes: two transfer robots 12 and 14 each having a manipulator for grasping a workpiece W which is a workpiece; a welding robot 16 for performing processing (welding processing in this embodiment) on the workpiece W; a control robot 12, 14 and 16 robot controllers 18; an input device 20 such as a personal computer connected to the robot controller 18; a teaching operation panel 22 connected to the robot controller 18 and used for teaching operations of the robots 12, 14, and 16 . In addition, in any of the present embodiments, the robot programming device of the present invention and each unit included in the device are incorporated in the personal computer 20, and other forms are also possible.

[0023] figure 2 It is a flowch...

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PUM

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Abstract

A robot programming device, in which the teaching of the cooperative motion of a plurality of robots may be carried out in a short time so as to reduce the number of man-hours for starting-up a robot system including the robots. The robot system includes two handling robots each having a hand for gripping a workpiece and a welding robot having a welding torch, a robot controller for controlling the robots, a personal computer with a robot programming device connected to the controller, and a teaching operation panel connected to the controller for teaching each robot.

Description

technical field [0001] The present invention relates to an off-line programming device for coordinating a plurality of robots. Background technique [0002] When performing arc welding or deburring processing on complex-shaped workpieces, a plurality of (for example, two) robots may operate in coordination. In the teaching of this coordinated operation, the teaching position of each robot is determined while driving one robot using a teaching operation panel or the like. Alternatively, the coordinated jog function can be used to determine the teaching positions of two robots while simultaneously operating them. For example, Japanese Unexamined Patent Application Publication No. 2004-9279 discloses a welding robot device in which a welding robot and a rotary positioner operate in coordination. In addition, JP-A-2003-340756 discloses a robot controller that shortens the time by teaching a plurality of robots in parallel by a plurality of persons. [0003] When the robots ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J9/22G05B19/4069
CPCB25J9/1682G05B2219/39136G05B2219/40287
Inventor 长塚嘉治井上幸三
Owner FANUC LTD
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