Teaching point generating device and teaching point generating method for generating teaching points based on sensor outputs

Abstract

A robot control device has an exploration point calculation section that calculates a position of an exploration point based on at least one teaching point, and an instruction section that drives a robot so that a position of the robot corresponds to the exploration point. The robot control device has a teaching point setting section that sets a position of a teaching point based on a work position detected by a laser sensor. The robot control device sets positions of a plurality of teaching points along a work line by repeatedly performing calculation of the position of the exploration point by the exploration point calculation section, driving of the robot by the instruction section, and setting of the position of the teaching point by the teaching point setting section.

Description

TECHNICAL FIELD

[0001] The present application relates to a teaching point generation device and a teaching point generation method that generate a teaching point from an output of a sensor. BACKGROUND

[0002] A robot device has a robot, a work tool attached to the robot, and a control device that controls the robot. The control device drives the robot and the work tool according to a work program. A worker can teach a teaching point in advance in order to determine a position and a posture of the robot during work. The work program is created based on the position of the teaching point.

[0003] The position of the teaching point sometimes has a large influence on the quality of work performed by the robot device. For example, in a robot device that performs arc welding, the robot moves a welding torch along a work path determined based on a teaching point. In a case where the work path deviates from a desired path, the position where welding is performed deviates.

[0004] In order to correct the deviation of the position where such welding is performed, a control is known in which a laser sensor is arranged at the welding torch, and the work path is corrected while welding is performed. For example, while welding is performed, a work position where welding should be performed is detected using the laser sensor. The control device is known to correct the work path determined by the work program based on the work position detected by the laser sensor (for example, Japanese Patent Application Laid-Open No. 9-277045 and Japanese Patent Application Laid-Open No. 8-166813).

[0005] In addition, a control is known in which a work path is generated in advance by specifying a start point and an end point, the position of the robot is caused to travel along the work path, and a position where welding is performed detected by the laser sensor is set as a teaching point while the robot is caused to travel (for example, Japanese Patent Application Laid-Open No. 7-104831).

[0006] PRIOR ART DOCUMENTS

[0007] PATENT DOCUMENTS

[0008] Patent Document 1: Japanese Patent Application Laid-Open No. 9-277045

[0009] Patent Document 2: Japanese Patent Application Laid-Open No. 8-166813

[0010] Patent Document 3: Japanese Patent Application Laid-Open No. 7-104831 SUMMARY

[0011] PROBLEMS TO BE SOLVED BY THE INVENTION

[0012] In order for the robot device to perform work with high quality, it is preferable to accurately set the teaching points. The teaching points determined by the work program are changed in the position and posture of the robot, for example, by an operator operating a teaching panel, so that the work tool becomes a desired position and posture. Also, when the position and posture of the robot become the desired position and posture, the teaching operation set as the teaching point can be performed.

[0013] However, it is sometimes difficult to perform this teaching operation. For example, in a case where the position and posture of the robot are manually adjusted in order to perform arc welding, the distance between the welding line on which welding should be performed and the front end point of the welding torch becomes short. The operator sometimes has to adjust the position of the front end point of the welding torch with an accuracy of 1 mm or less. The teaching points have to be set in plurality along the welding line, and thus the work time becomes long. Also, the operator needs high skills. In particular, in a case where the welding line includes a curve, it is necessary to generate many teaching points in a range in which the direction in which the welding line extends changes. There is a problem that the operator needs a large amount of time in order to generate the teaching points.

[0014] In addition, by installing a laser sensor in the robot device, it is possible to correct the work path on which welding is performed using the output of the laser sensor while performing actual welding work. However, in order to implement this control, it is necessary to set the teaching points in advance. In other words, it is necessary to determine in advance the teaching points that become the reference of the work path.

[0015] Means for solving the problem

[0016] One embodiment of the present disclosure is a teaching point generation device that generates teaching points of a robot device having a robot and a work tool. The teaching point generation device has a sensor that detects a work position on a work line on which the robot device performs work on a workpiece. The teaching point generation device has a search point calculation section that calculates a position of a search point for determining a next teaching point along the work line, based on at least one teaching point, and an instruction section that drives the robot so that the position of the robot moves to a movement point corresponding to the search point. The teaching point generation device has a teaching point setting section that sets a position of a teaching point based on the work position detected by the sensor after the position of the robot moves to the movement point. The teaching point generation device sets the positions of a plurality of teaching points along the work line by repeatedly performing the setting control including the calculation of the position of the search point by the search point calculation section, the driving of the robot by the instruction section, and the setting of the position of the teaching point by the teaching point setting section.

[0017] Another aspect of the present disclosure is a teaching point generation method of generating a teaching point of a robot device having a robot and a work tool. The teaching point generation method includes a search point calculation step of calculating a position of a search point for determining a next teaching point along a work line, based on at least one teaching point, and a driving step of driving the robot so that a position of the robot moves to a movement point corresponding to the search point. The teaching point generation method includes a position detection step of detecting a work position on the work line at which the robot device works on a workpiece, by a sensor, after the position of the robot moves to the movement point. The teaching point generation method includes a teaching point setting step of setting a position of a teaching point based on the work position detected by the sensor. By repeating the setting steps including the search point calculation step, the driving step, the position detection step, and the teaching point setting step, positions of a plurality of teaching points along the work line are set.

[0018] Effects of Invention

[0019] According to the aspect of the present disclosure, it is possible to provide a teaching point generation device and a teaching point generation method that automatically set positions of teaching points. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of a robot device in an embodiment.

[0021] Figure 2 is a block diagram of a robot device in an embodiment.

[0022] Figure 3 is a perspective view of a workpiece and a welding torch when the robot device in an embodiment performs welding.

[0023] Figure 4 is an enlarged perspective view of a welding torch and a laser sensor in an embodiment.

[0024] Figure 5 is a perspective view of a workpiece and a welding torch when a start teaching point at which welding is started is set.

[0025] Figure 6 is a perspective view of a workpiece and a welding torch when the welding torch is retreated from the start teaching point.

[0026] Figure 7 is a perspective view of a workpiece and a welding torch when the welding torch is moved to a position corresponding to a search point.

[0027] Figure 8 is a diagram for explaining control of setting positions of a search point and a next teaching point based on two teaching points.

[0028] Figure 9 is another diagram for explaining control of setting positions of a search point and a next teaching point based on two teaching points.

[0029] Figure 10 is a diagram for explaining the teaching points generated by the setting control in the embodiment.

[0030] Figure 11 is a perspective view of the workpiece and the welding torch when the welding torch travels to a position corresponding to the end teaching point.

[0031] Figure 12 is a diagram for explaining the first process of the control when the work position where welding cannot be performed by laser sensor detection.

[0032] Figure 13 is a diagram for explaining the second process of the control when the work position where welding cannot be performed by laser sensor detection.

[0033] Figure 14 is a diagram of the welding path when welding is performed along a welding line including a straight line and a curved line.

[0034] Figure 15 is a perspective view of the workpiece and the welding torch when the reproduction control in the embodiment is performed. DETAILED DESCRIPTION

[0035] REFERENCE Figures 1 to 15 A teaching point generation device and a teaching point generation method in an embodiment will be described. In the present embodiment, a robot device that fixes a plurality of workpieces by arc welding is exemplified.

[0036] Figure 1 is a schematic diagram of the robot device in the present embodiment. Figure 2 is a block diagram of the robot device in the present embodiment. With reference to Figure 1 and Figure 2 , the robot device 8 has a welding torch 2 as a work tool and a robot 1 that moves the welding torch 2. The robot 1 of the present embodiment is a multi-joint robot that includes a plurality of joint sections.

[0037] The robot 1 includes a base section 14 and a turn base 13 supported to the base section 14. The base section 14 is fixed to a setting surface. The turn base 13 rotates with respect to the base section 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported to the turn base 13 via a joint section. The upper arm 11 is supported to the lower arm 12 via a joint section. The robot 1 includes a wrist section 15 coupled to an end portion of the upper arm 11. The wrist section 15 is supported to the upper arm 11 via a joint section. The welding torch 2 is fixed to a flange 16 of the wrist section 15. Note that the work tool is not limited to the welding torch, and any device corresponding to the work performed by the robot device can be adopted.

[0038] The robot 1 of the present embodiment has six drive axes. The robot 1 includes a robot drive device that drives the constituent components of the robot 1 such as the upper arm 11. The robot drive device of the present embodiment includes a plurality of robot drive motors 22 for driving the upper arm 11, the lower arm 12, the turn base 13, and the wrist 15. At the joint portions, the orientations of the constituent components of the robot 1 change, whereby the position and the posture of the robot 1 change.

[0039] The control device 10 of the robot device 8 has a robot control device 4 that controls the robot 1. The robot control device 4 includes a computation processing device (computer) having a CPU (Central Processing Unit) as a processor. The computation processing device has a RAM (Random Access Memory) and a ROM (Read Only Memory) and the like connected to the CPU via a bus.

[0040] The robot device 8 includes a wire feed device 18 for feeding the welding wire 19 to the welding torch 2. The wire feed device 18 feeds the welding wire 19 consumed as the welding is performed to the welding torch 2. The wire feed device 18 of the present embodiment is fixed to the robot 1.

[0041] The control device 10 of the robot device 8 includes a welding control device 5 that controls the welding torch 2 and the wire feed device 18. The welding control device 5 includes a computation processing device having a CPU as a processor and a RAM and the like connected to the CPU via a bus. In addition, the welding control device 5 includes a circuit that supplies power to the welding torch 2 and the wire feed device 18. The welding control device 5 is formed so as to be able to communicate with the robot control device 4. The welding control device 5 supplies power to the welding torch 2 or feeds the welding wire 19 in accordance with the movement of the robot 1. The welding control device 5 of the present embodiment is controlled by the robot control device 4.

[0042] The robot control device 4 includes a teaching pendant 3 that an operator manually operates to operate the robot device 8. The teaching pendant 3 includes an input section 3a that inputs information related to the robot 1 and the welding torch 2. The input section 3a is constituted by components such as a keyboard and a dial. The teaching pendant 3 includes a display section 3b that displays information related to the control of the robot device 8. The display section 3b is constituted by a display panel such as a liquid crystal display panel. In addition, the display section 3b can also include a touch panel type display panel. In this case, the display section 3b has the function of the input section 3a.

[0043] The robot control device 4 drives the robot and the work tool in accordance with the action program 40. The action program 40 of the present embodiment contains a work program 41 for performing a predetermined work such as welding by the robot device 8. The position and the posture of the robot 1 are changed in accordance with the teaching points determined by the work program 41. The welding control device 5 supplies a current to the welding torch 2 or controls the wire feeding device 18 in accordance with the work program 41.

[0044] The robot control device 4 contains a storage section 42 that stores information related to the control of the robot 1 and the welding torch 2. The storage section 42 can be constituted by a volatile memory, a non-volatile memory, or a non-transitory storage medium such as a hard disk that can store information. The action program 40 containing the work program 41 and the teaching point generation program 47 is stored in the storage section 42.

[0045] The teaching points for driving the robot device 8 are determined in the work program 41. The robot control device 4 contains an action control section 43 that sends out action commands of the robot 1 and the welding torch 2. The action control section 43 corresponds to a processor that drives in accordance with the work program 41. The processor reads in the work program 41 and performs the control determined by the work program 41, thereby functioning as the action control section 43. Alternatively, the processor drives the robot 1 in accordance with the command from the processing section 51 or the command from the reproduction control section 60, thereby functioning as the action control section 43.

[0046] The action control section 43 sends out action commands for driving the robot 1 to a robot drive section 45. The robot drive section 45 contains a circuit that drives the robot drive motor 22. The robot drive section 45 supplies power to the robot drive motor 22 in accordance with the action commands. In addition, the action control section 43 controls the action of the welding torch 2. The action control section 43 sends out action commands for driving the welding torch 2 and the wire feeding device 18 to the welding control device 5 in accordance with the work program 41. The welding control device 5 supplies power to the welding torch 2 and the wire feeding device 18 in accordance with the action commands.

[0047] The robot 1 contains a state detector for detecting the position and the posture of the robot 1. The state detector in the present embodiment contains the position detector 23 attached to the robot drive motor 22. The orientation of the components of the robot 1 on each drive shaft is obtained by the output of the position detector 23. For example, the position detector 23 detects the rotation angle when the robot drive motor 22 is driven. In the present embodiment, the position and the posture of the robot 1 are detected from the outputs of a plurality of position detectors 23.

[0048] A world coordinate system 71 is set to the robot device 8 of the present embodiment. In the world coordinate system 71, the origin is set to the origin of the world coordinate system 71, and the X-axis and the Y-axis are set to the X-axis and the Y-axis of the world coordinate system 71. The Z-axis of the world coordinate system 71 is set to the direction of the normal line of the work surface 3. Figure 1In the example shown, the origin of the world coordinate system 71 is provided at the base portion 14 of the robot 1. The world coordinate system 71 is also referred to as a reference coordinate system of the robot device 8. The world coordinate system 71 is a coordinate system whose position of the origin is fixed and whose orientation of the coordinate axes is fixed. Even if the position and the posture of the robot 1 change, the position and the orientation of the world coordinate system 71 do not change. The world coordinate system 71 has an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other as coordinate axes. In addition, a W-axis is set as a coordinate axis around the X-axis. A P-axis is set as a coordinate axis around the Y-axis. An R-axis is set as a coordinate axis around the Z-axis.

[0049] In the present embodiment, a tool coordinate system 72 having an origin set at an arbitrary position of the work tool is provided. The origin of the tool coordinate system 72 of the present embodiment is set at the tool tip point. The tool coordinate system 72 has an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other as coordinate axes. The tool coordinate system 72 has a W-axis around the X-axis, a P-axis around the Y-axis, and an R-axis around the Z-axis. In the example shown, the origin of the tool coordinate system 72 is set at the tip point of the welding wire 19. In addition, the tool coordinate system 72 is set so that the extension direction of the Z-axis is parallel to the extension direction of the welding wire 19 that protrudes from the tip of the welding torch 2. Figure 1 In the example shown, the origin of the tool coordinate system 72 is set at the tip point of the welding wire 19. In addition, the tool coordinate system 72 is set so that the extension direction of the Z-axis is parallel to the extension direction of the welding wire 19 that protrudes from the tip of the welding torch 2.

[0050] When the position and the posture of the robot 1 change, the position and the orientation of the origin of the tool coordinate system 72 change. For example, the position of the robot 1 corresponds to the position of the tool tip point (the position of the origin of the tool coordinate system 72). In addition, the posture of the robot 1 corresponds to the orientation of the tool coordinate system 72 with respect to the world coordinate system 71.

[0051] The robot device 8 has a teaching point generation device that generates a teaching point of the robot device 8 having the robot 1 and the welding torch 2. In the present embodiment, the robot control device 4 functions as the teaching point generation device. The robot control device 4 has a laser sensor 27 as a sensor for detecting a work position on a work line of a workpiece at which the robot device 8 performs work. In the present embodiment, a welding position as a work position on a welding line of the workpieces 81, 82 is detected from the output of the laser sensor 27. In addition, a teaching point generation program 47 for driving the robot device 8 is generated in advance in order to generate a teaching point.

[0052] As the sensor for detecting a work position at which the robot device 8 performs work, a laser sensor is not limited, and any sensor capable of detecting a work position can be used. For example, as the sensor, a three-dimensional sensor can be used. As the three-dimensional sensor, a TOF (Time of Flight) camera that captures a distance image by a light flight time method or a stereo camera that detects a three-dimensional position from a parallax captured by two two-dimensional cameras, or the like can be used.

[0053] The robot control device 4 includes: a processing unit 51 that processes the output of the laser sensor 27 and generates a teaching point. The processing unit 51 includes: a work position detection unit 52 that detects the work position of the welding torch 2 based on the output of the laser sensor 27. The processing unit 51 includes: an exploration point calculation unit 53 that calculates the position of an exploration point for determining the next teaching point along the work line based on at least one teaching point. The processing unit 51 includes: a command unit 54 that drives the robot 1 to move its position to a movement point corresponding to the exploration point. Additionally, the processing unit 51 includes: a teaching point setting unit 55 that sets the position of the teaching point based on the work position detected by the laser sensor 27 after the robot 1 has moved to the movement point. The setting of the teaching point in this embodiment includes setting the position of the teaching point and setting the robot's posture at the teaching point.

[0054] Each of the processing unit 51, the work position detection unit 52, the exploration point calculation unit 53, the instruction unit 54, and the teaching point setting unit 55 is equivalent to a processor driven by the teaching point generation program 47. The processor reads the teaching point generation program 47 and implements the control determined by the teaching point generation program 47, thereby performing its function as each unit.

[0055] Figure 3 This is an enlarged perspective view showing the workpiece and welding torch during welding using the robotic device of this embodiment. (Refer to...) Figure 1 and Figure 3 In this embodiment, a workpiece 81 is disposed on the upper surface of the stand 89. A workpiece 82 is disposed on the upper surface of the workpiece 81. The workpieces 81 and 82 in this embodiment are plate-shaped components. The surfaces of the workpieces 81 and 82 in this embodiment are each planar. The workpieces 81 and 82 are fixed to the stand 89 by a clamp (not shown).

[0056] The robot device 8 welds the portion where the upper surface of workpiece 81 contacts the end face of workpiece 82. The boundary line between the upper surface of workpiece 81 and the end face of workpiece 82 forms the welding line WL1, which serves as the work line for the operation. The robot control device 4 changes the position and posture of the robot 1 as shown by arrow 91, so that the tool tip of the welding torch 2 moves along the welding line WL1. A weld bead 80 is formed in the welded portion. The teach point generation device of this embodiment generates a teach point for the robot device 8 to perform such an operation.

[0057] Figure 4An enlarged perspective view of the welding torch and the laser sensor in the embodiment is shown. The laser sensor 27 in the embodiment is supported by the robot 1. The laser sensor 27 is fixed to the welding torch 2 via a support member 27a. The laser sensor 27 in the embodiment emits a laser beam within an irradiation range 30 of a predetermined emission angle. The irradiation range 30 is planar. In particular, the irradiation range 30 in the embodiment is fan-shaped. Figure 4 A state when a laser beam is irradiated to a planar surface of a workpiece is shown. An irradiation line 32, to which the laser beam is irradiated in correspondence with the irradiation range 30, is drawn on the surface of the workpiece. In the embodiment, a line passing through a predetermined point in the laser sensor 27 and a midpoint of the width W of the irradiation line 32 is referred to as a central line 31 of the irradiation range 30.

[0058] As the laser sensor 27, any sensor having a mechanism to emit a laser beam within a fan-shaped irradiation range 30 can be employed. For example, a sensor to deflect and scan a laser beam can be employed. The sensor to deflect and scan a laser beam includes a wobble mirror to change the emission direction of the laser beam. The wobble mirror wobbles, whereby the laser beam is emitted within a range of a predetermined emission angle. In addition, the laser sensor includes a light receiving element to receive a laser beam reflected on the surface of the workpiece. The position at which the laser beam is reflected on the workpiece can be detected from the orientation of the laser beam emitted by the wobble mirror and the position of the laser beam in the light receiving element. In particular, the position along the width direction of the irradiation range and the distance from the laser sensor to the surface of the workpiece can be detected. The position at which the laser beam is reflected can be calculated in a coordinate system of the sensor set to the laser sensor.

[0059] The position at which the laser beam is reflected on the surface of the workpiece can be calculated by the coordinate system of the sensor. Furthermore, a line connecting a plurality of positions detected by scanning of the laser beam can be generated. From the line connecting the plurality of positions, a welding position on a welding line can be detected. For example, a point at which the line connecting the plurality of positions is bent can be set as a welding position at which welding should be performed. In addition, the welding position represented by the coordinate system of the sensor can be transformed into a welding position represented by the world coordinate system 71 from the position and posture of the robot 1.

[0060] Figure 5A perspective view of the workpiece and the welding torch at the time when the position of the robot is configured at the start teaching point at which welding is started is shown. The operator first sets a teaching point indicating the start of welding, i.e., a start teaching point TPS. The operator can set the start teaching point TPS by manually driving the robot 1. The operator operates the input section 3a of the teaching pendant 3 to change the position and posture of the robot 1. Also, the position of the robot 1 is adjusted so that the leading end portion (tool tip point) of the welding wire 19 is disposed at the start point of welding. In addition, the posture of the robot 1 is adjusted so that the welding torch 2 becomes the desired target angle and the advance angle. Further, in the present embodiment, the advance angle is described as an example, but the retreat angle can also be used.

[0061] At this time, the operator preferably adjusts the rotational position of the flange 16 of the wrist portion 15 so that the laser sensor 27 is disposed in the extension direction of the welding line WL1. In particular, it is preferable to dispose the laser sensor 27 in such a manner that the welding line WL1 on which welding should be performed enters the irradiation range 30 of the laser beam.

[0062] Thus, in the present embodiment, the start teaching point is set in advance. Further, the start teaching point can be set by any method. For example, the operator can also set the start teaching point TPS by inputting the coordinate value of a prescribed coordinate system from the input section 3a of the teaching pendant 3. Next, the operator operates the input section 3a of the teaching pendant 3, whereby the robot control device 4 starts control to automatically generate teaching points.

[0063] Figure 6 A perspective view at the time when the welding torch is retreated in a predetermined direction from the start teaching point is shown. With reference to Figure 1 , Figure 2 and Figure 6 , the command section 54 of the processing section 51 performs control to retreat the welding torch 2 from the workpieces 81, 82 in a predetermined direction and a predetermined distance from the start teaching point TPS. In the example here, the command section 54 changes the position of the robot 1 so that the welding torch 2 moves in the direction of the Z axis of the tool coordinate system 72. The position of the robot 1 is moved from the start teaching point TPS to a movement point MPS. As shown by the arrow 93, the leading tip point of the welding wire 19 is moved in a direction away from the start teaching point TPS. The direction in which the welding torch 2 is retreated is not limited to the direction of the Z axis of the tool coordinate system 72, and any direction away from the workpieces 81, 82 can be used. At this time, it is preferable to move the welding torch 2 in a direction and distance in which the welding line WL1 can be imaged by the laser sensor 27.

[0064] The robot control device 4 implements setting control that sets the position of the teaching point while moving the welding torch 2 along the welding line WL1. In the present embodiment, the setting of the position of the teaching point is repeatedly performed while maintaining a state in which the welding torch 2 is retracted from the workpieces 81, 82. That is, the setting of the position of the teaching point is performed while moving the welding torch 2 in the direction along the welding line WL1 in a state in which the tool tip point is away from the welding line WL1.

[0065] In the present embodiment, the robot 1 is set to a predetermined posture during the period in which the setting control that sets the position of the teaching point is implemented. For example, the operator can input the posture of the robot 1 for implementing the setting control to the robot control device 4 in advance. Alternatively, the posture of the robot 1 at the time when the operator sets the start teaching point TPS can be maintained.

[0066] First, the teaching point setting section 55 sets the position of the teaching point TP1 in accordance with the position of the start teaching point TPS. The welding line WL1 as a work line is disposed inside the irradiation range 30 of the laser beam of the laser sensor 27. The irradiation range 30 intersects the direction in which the welding line WL1 extends. The work position detection section 52 detects the position of the welding line WL1, that is, the welding position at which welding should be performed, in accordance with the output of the laser sensor 27. The teaching point setting section 55 in the present embodiment sets this welding position as the position of the teaching point TP1.

[0067] Figure 7 A perspective view of the welding torch and the workpiece that illustrates the control that sets the position of the next teaching point. Figure 8 A view that illustrates the control that sets the position of the next teaching point. Refer to Figure 7 and Figure 8 The processing section 51 generates the next teaching point TP2 along the welding line WL1 in accordance with the already set teaching points TPS, TP1.

[0068] The exploration point calculation section 53 implements an exploration point calculation process that calculates the position of an exploration point for determining the next teaching point along the welding line WL1 in accordance with at least one teaching point. The exploration point calculation section 53 calculates a straight line that extends from the start teaching point TPS toward the teaching point TP1 as indicated by an arrow 94. The exploration point calculation section 53 sets an exploration point SP2 on the extension line of the straight line of the arrow 94 as indicated by an arrow 95. The distance from the teaching point that becomes the reference to the exploration point can be predetermined. In the example here, the distance of the straight line from the teaching point TPS to the exploration point SP2 can be predetermined.

[0069] Next, the instruction section 54 implements a driving process of driving the robot 1 so that the position of the robot 1 moves to a movement point MP2 corresponding to the exploration point SP2. The instruction section 54 calculates the position of the movement point MP2 corresponding to the position of the exploration point SP2 of the robot 1. The instruction section 54 calculates the position of the movement point MP2 after moving the position of the robot 1 from the movement point MPS in the same direction and by the same distance as the direction and distance from the teaching point TP1 toward the exploration point SP2 (the direction and distance shown by the arrow 95). The instruction section 54 drives the robot 1 so that the robot 1 is arranged at the calculated position of the movement point MP2. The instruction section 54 moves the welding torch 2 as shown by the arrow 96.

[0070] Next, the work position detection section 52 implements a position detection process of detecting a work position on the welding line WL1 by the laser sensor 27. The work position detection section 52 detects the welding position at which the workpieces 81, 82 are welded based on the output of the laser sensor 27 after the position of the robot 1 moves to the movement point MP2 corresponding to the exploration point SP2.

[0071] Next, the teaching point setting section 55 implements a teaching point setting process of setting a teaching point based on the welding position detected by the laser sensor 27. The teaching point setting section 55 of the present embodiment acquires the welding position from the work position detection section 52 and sets the welding position as the position of the teaching point TP2. In the example shown in Figure 7 Figure 8 In the example shown in FIG. 9, the teaching point TP2 is slightly deviated from the exploration point SP2.

[0072] In the present embodiment, the control including the calculation of the position of the exploration point by the exploration point calculation section 53, the driving of the robot 1 by the instruction section 54, and the setting of the position of the teaching point by the teaching point setting section 55 is referred to as setting control. The robot control device 4 generates a plurality of teaching points along the welding line WL1 by repeatedly performing the setting control. In addition, the robot control device 4 sets the positions of the plurality of teaching points. In other words, the robot control device 4 sets the positions of a plurality of teaching points along the welding line WL1 by repeatedly performing the setting process including the exploration point calculation process, the driving process, the position detection process, and the teaching point setting process.

[0073] Figure 9 FIG. 9 is a view that shows the control of setting the position of the next teaching point. Referring to Figure 7 Figure 9 , the processing section 51 repeatedly performs the same setting control as the setting control of setting the position of the teaching point TP2. The processing section 51 of the present embodiment sets the teaching point TP3 based on the teaching point TP1 and the teaching point TP2 set by the most recent control.

[0074] ​​The exploration point calculation section 53 calculates a straight line from the teaching point TPl toward the teaching point TP2 as indicated by an arrow 96. The exploration point calculation section 53 sets an exploration point SP3 on an extension line of the straight line indicated by the arrow 96 as indicated by an arrow 97. The distance from the teaching point TP2 to the exploration point SP3 can be a predetermined distance. For example, the distance from the teaching point TP2 to the exploration point SP3 can be set to be the same as the distance from the teaching point TPS to the exploration point SP2. The exploration point calculation section 53 calculates the position of the exploration point SP3 for determining the next teaching point TP3 based on the position of the teaching point TP2 set in the previous setting control and the position of the teaching point TPl set before the teaching point TP2 in the previous setting control.

[0075] The command section 54 calculates the position of the movement point corresponding to the exploration point SP3. The command section 54 calculates the direction and distance from the exploration point SP2 toward the exploration point SP3. The command section 54 calculates the position of the movement point corresponding to the exploration point SP3 based on the direction and distance from the exploration point SP2 toward the exploration point SP3 and the position of the movement point MP2. The command section 54 moves the position of the robot 1 to the movement point corresponding to the exploration point SP3. Here, the command section 54 changes the position of the robot 1 so that the central line 31 of the irradiation range 30 passes through the exploration point SP3. In the present embodiment, the extension direction of the irradiation line 32 at this time is parallel to the irradiation line 32 when the laser beam is irradiated toward the workpieces 81, 82 from the movement point MP2.

[0076] After the robot 1 is moved to the movement point corresponding to the exploration point SP3, the work position detection section 52 detects the welding position based on the output of the laser sensor 27. Also, the teaching point setting section 55 sets the position of the teaching point TP3 based on the welding position detected by the work position detection section 52.

[0077] Figure 10 The welding path generated by repeatedly performing the setting control is indicated. The paths of the teaching points TPS, TPl, TP2, TP3 become the welding path WP1 as the work path. In this way, the teaching point generation device of the present embodiment can generate the teaching points and set the positions of the teaching points by repeatedly performing the setting control. Also, in the teaching point generation method of the present embodiment, the teaching points can be generated and the positions of the teaching points can be set by repeatedly performing the setting process.

[0078] The teaching point setting section 55 can calculate the work path based on the positions of the teaching points. The teaching point setting section 55 can set the posture of the robot 1 at each teaching point based on the work path. For example, the teaching point setting section 55 can set the posture of the robot 1 so that the posture of the torch becomes a predetermined advance angle or retreat angle and a predetermined target angle based on the generated work path. The teaching point setting section 55 can calculate the posture of the robot 1 for each teaching point.

[0079] In the teaching point generation device and the teaching point generation method of the present embodiment, the teaching point can be generated even if the path of the robot serving as a reference is not generated in advance. In addition, since the teaching point can be automatically generated, even a worker with little skill can easily generate the teaching point. In addition, the worker can generate the teaching point in a short time. Furthermore, since the welding position on the welding line is detected by the sensor, the teaching point can be set at an accurate position.

[0080] In the present embodiment, the exploration point calculation section 53 calculates the position of the exploration point for determining the next teaching point, based on the position of the teaching point set in the previous setting control and the position of the teaching point set before the previous setting control. With this control, the exploration point can be set in the vicinity of the next teaching point using the teaching point already set. In particular, the exploration point calculation section 53 of the present embodiment calculates the position of the exploration point based on the position of the teaching point set in the previous setting control and the position of the teaching point set in the setting control two times before. That is, the exploration point calculation section 53 calculates the position of the exploration point based on the positions of two consecutive teaching points. With the control of calculating the position of the exploration point based on the positions of two consecutive teaching points, the amount of calculation for calculating the exploration point can be reduced.

[0081] Further, the exploration point calculation section 53 can calculate the position of the exploration point corresponding to the next teaching point based on the positions of three or more teaching points. For example, the exploration point calculation section can calculate a straight line on which the exploration point is set by the least square method based on the positions of three or more teaching points. In addition, in the above-described embodiment, the exploration point is set on the extension line of the straight line connecting the plurality of teaching points, but is not limited to this. For example, the exploration point calculation section can set the exploration point on the extension line of a curved line such as an arc passing through the plurality of teaching points.

[0082] In the present embodiment, the setting control is implemented while maintaining the state in which the welding torch 2 is retreated from the workpieces 81, 82. With this control, the welding torch 2 can be prevented from colliding with the workpieces 81, 82 or a fixed member or the like disposed around the workpieces 81, 82. For example, in the case where the workpiece is bent, if the welding torch moves in a straight line to the movement point corresponding to the exploration point, there is a case where the welding torch collides with the workpiece. By setting the position of the teaching point in a state where the welding torch is away from the workpiece, the collision of the welding torch with other objects can be prevented. Further, the setting control can be implemented without retreating the welding torch from the workpiece. That is, the position of the teaching point can be set while maintaining the state in which the tool tip point is disposed in the vicinity of the welding line.

[0083] The sensor of the present embodiment is a laser sensor 27 that emits a laser beam within a planar irradiation range 30 of a predetermined emission angle. By adopting this structure, the position of the welding torch 2 can be controlled using the width direction of the irradiation range 30 of the laser beam and the center line 31 of the irradiation range 30.

[0084] Figure 11 A perspective view showing the workpiece and the welding torch when the welding position detected by the laser sensor reaches the end point of welding while the setting control is repeatedly performed is shown. In the example shown in FIG. 9, the start teaching point TPS, the teaching points TP1 to TP4, and the end teaching point TPE are shown. The condition for ending the setting control can be predetermined. For example, the range of the position of the search point at which the setting control ends can be predetermined. When the search point calculated by the search point calculation section 53 reaches the predetermined range of the position, the teaching point detected in correspondence with the search point can be set as the end teaching point TPE that is the teaching point at which the work ends. Figure 11

[0085] Alternatively, the range of the position of the end teaching point can be predetermined. In the case where the newly generated teaching point is a point within the range of the position of the end teaching point, the teaching point can be set as the end teaching point TPE, and the setting control ends.

[0086] Alternatively, the setting control can also end in the case where the work position detection section 52 cannot detect the welding position from the output of the laser sensor 27 after the position of the robot is moved to the movement point corresponding to the search point. In this case, the teaching point setting section 55 can set the last set teaching point among the already set teaching points as the end teaching point TPE.

[0087] Alternatively, the setting control can also end when the laser beam reaches the vicinity of the end point of welding by the operation of the teaching panel 3 by the operator. Also, the operator can move the welding torch 2 by operating the teaching panel 3 to set the end teaching point TPE.

[0088] Figure 12 A diagram showing an explanation of the control in the case where the welding position cannot be detected by the laser sensor is shown. In the example shown in FIG. 10, the teaching points are generated along the welding line WL4. The welding line WL4 has a curved portion with a small radius of curvature. In the example here, the search point SP2 is calculated from the start teaching point TPS and the teaching point TP1. Also, the position of the robot 1 is moved to the movement point corresponding to the search point SP2, and the position of the teaching point TP2 is set. Figure 12

[0089] ​​Next, the exploration point calculation section 53 calculates the position of the exploration point SP3 based on the positions of the teaching points TP1, TP2. The command section 54 calculates the position of the movement point corresponding to the exploration point SP3. The command section 54 changes the position of the robot 1 so that the central line 31 of the irradiation range 30 of the laser beam passes through the exploration point SP3. However, the irradiation line 32 of the laser beam is away from the welding line WL4. Therefore, the work position detection section 52 cannot detect the welding position based on the output of the laser sensor 27. In this way, after the position of the robot 1 is moved to the movement point, the welding position cannot be detected based on the output of the laser sensor 27 at times.

[0090] In this case, the command section 54 can drive the robot 1 so that the laser sensor 27 rotates around the predetermined rotation axis 101. Referring to Figure 4 and Figure 12 In the example here, the driving shaft of the flange 16 of the robot 1 is set as the rotation axis 101. As indicated by the arrow 92, the command section 54 implements control to rotate the welding torch 2 around the rotation axis 101. The welding torch 2 rotates, and thereby the laser sensor 27 rotates.

[0091] The angle at which the laser sensor 27 is rotated can be predetermined. For example, the command section 54 can rotate the laser sensor 27 within a predetermined angle with respect to the direction indicated by the arrow 97 from the teaching point TP2 toward the exploration point SP3. The command section 54 can stop the rotation of the laser sensor 27 at the predetermined angle. Also, the work position detection section 52 implements detection of the work position at the position after the rotation.

[0092] Figure 13 A view indicating the rotation of the laser sensor is shown. Referring to Figure 12 and Figure 13 By rotating the laser sensor 27 around the rotation axis 101, the state is achieved in which the welding line WL4 passes through the range of the irradiation line 32. The work position detection section 52 can detect the welding position based on the output of the laser sensor 27.

[0093] In this way, in the case where the work position cannot be detected based on the output of the laser sensor 27, the peripheral exploration control to rotate the laser sensor 27 to implement detection of the welding position can be implemented. The teaching point setting section 55 sets the welding position detected by the peripheral exploration control as the position of the teaching point TP3. By implementing this control, the welding position can be detected in the case where the welding line WL4 exists in the vicinity of the irradiation range 30 of the laser sensor 27.

[0094] In the present embodiment, the driving shaft of the flange 16 is employed as the rotation axis of the laser sensor 27, but the present application is not limited to this. The laser sensor can be rotated around an arbitrary rotation axis. For example, the rotation axis can be the Z-axis of the tool coordinate system 72. Alternatively, the rotation axis can be an arbitrary axis passing through the tool tip point. Furthermore, a rotation axis set at a position away from the welding torch can be employed. Furthermore, with reference to Figure 6 As for the peripheral exploration control, the next teaching point TP1 can not be detected from the output of the laser sensor 27 in a case where the welding torch 2 is withdrawn from the start teaching point TPS to a position at which the movement point MPS is located. In this case, the peripheral exploration control can be implemented.

[0095] Furthermore, with reference to Figure 12 After the robot 1 is moved to the movement point corresponding to the exploration point, the exploration point calculation section 53 can implement control to shorten the distance from the teaching point TP2 to the exploration point SP3, as indicated by the arrow 97, in a case where the welding position cannot be detected by the laser sensor 27. That is, control to shorten the movement distance of the welding torch 2 when moving from the movement point corresponding to the exploration point SP2 toward the movement point corresponding to the exploration point SP3 can be implemented.

[0096] The exploration point calculation section 53 sets the distance from the teaching point TP2 to the exploration point shorter than the distance from the current teaching point TP2 to the exploration point SP3. That is, the position of the corrected exploration point is calculated by shortening the movement distance indicated by the arrow 97. The method of setting the distance from the teaching point TP2 to the corrected exploration point can be determined in advance. Furthermore, the command section 54 drives the robot 1 to the movement point corresponding to the corrected exploration point. Thereafter, the work position detection section 52 implements detection of the welding position from the output of the laser sensor 27.

[0097] Thus, in a case where the work position cannot be detected from the output of the laser sensor 27, movement distance change control to shorten the distance from the teaching point to the exploration point can be implemented. By implementing this control, the distance from the already generated teaching point to the exploration point is shortened. Even if the welding line WL4 is bent or curved, the distance from the exploration point to the welding line can be shortened. As a result, the possibility of detecting the welding position by the laser sensor 27 is improved. Furthermore, the movement distance change control can be repeatedly implemented. For example, in a case where the work position cannot be detected even if the movement distance change control is implemented to shorten the distance from the teaching point to the exploration point, the movement distance change control can be further implemented.

[0098] The above-described peripheral exploration control and movement distance change control can be implemented in combination. For example, in a case where the welding position cannot be detected even if the peripheral exploration control is implemented, the processing section 51 can implement the movement distance change control. Alternatively, in a case where the welding position cannot be detected even if the movement distance change control is implemented, the processing section 51 can implement the peripheral exploration control.

[0099] Figure 14 FIG. 6 is a view that shows the control to set the positions of the teaching points with respect to the welding line including the linear-shaped welding line and the curved-shaped welding line. The welding line WL5 includes the linear-shaped portion and the curved-shaped portion. In the welding line WL5, the teaching points TP1 to TP6 are set. The teaching points TP1 to TP6 are set at the positions where the welding line WL5 is linear-shaped. The teaching points TP1 to TP6 are set at the positions where the welding line WL5 is curved-shaped. Figure 14 In the welding line WL5, the irradiation lines 32 of the laser beam at the respective teaching points TP1 to TP6 are shown. As described above, in the case where the welding line is curved-shaped, after the position of the robot 1 is moved to the exploration point, the welding position on the welding line is sometimes unable to be detected.

[0100] Therefore, in the case where the welding line WL5 along the path from the teaching point toward the exploration point is linear-shaped, the exploration point calculating section 53 is able to set the distance from the teaching point to the exploration point as the first distance. In the respective intervals IL1, the welding line WL5 extends linearly, and thus the distance from the teaching point to the exploration point is set as the first distance. On the other hand, in the case where the welding line WL5 along the path from the teaching point toward the exploration point is curved-shaped, the exploration point calculating section 53 is able to set the distance from the teaching point to the exploration point as the second distance smaller than the first distance. In the respective intervals IL2, the welding line WL5 extends curvedly, and thus the distance from the teaching point to the exploration point is set as the second distance. The teaching points in the intervals IL2 are narrower in interval than the teaching points in the intervals IL1.

[0101] The interval in which the exploration point is detected at the first distance and the interval in which the exploration point is detected at the second distance are able to be determined in advance. For example, with respect to the position of the exploration point, the range of the interval IL1 in which the exploration point is detected at the first distance and the range of the interval IL2 in which the exploration point is detected at the second distance are able to be determined in advance.

[0102] Alternatively, the operator is able to change the distance from the teaching point to the exploration point through the operation of the teaching pendant 3. The input section 3a of the teaching pendant 3 of the present embodiment is formed to be able to adjust the distance from the teaching point to the exploration point. For example, the distance changing button that changes the distance is provided to the input section 3a. In the case where the distance changing button is not pressed, the exploration point calculating section 53 is able to set the distance from the teaching point to the exploration point as the first distance. In addition, in the case where the distance changing button is pressed, the exploration point calculating section 53 is able to set the distance from the teaching point to the exploration point as the second distance.

[0103] The operator confirms the position of the welding torch 2 during the period in which the operator sets the position of the teaching point while moving the welding torch 2. The operator can change the distance from the teaching point to the exploration point by operating the distance change button. The operator can manually adjust the distance from the teaching point to the exploration point according to the position of the welding torch 2 during the period in which the setting control is implemented. Further, an interval in which the movement distance is changed more than three times can be set. Alternatively, the movement distance can be changed in more than three movement distances.

[0104] Figure 15 A perspective view showing the workpiece and the welding torch when the robot device is actually driven according to the teaching points generated in the setting control. Referring to Figure 2 and Figure 15 The robot control device 4 includes a regeneration control section 60 that implements a regeneration control that drives the robot 1 according to the teaching points generated in the setting control. The regeneration control section 60 corresponds to a processor that drives in accordance with the teaching point generation program 47. The processor functions as the regeneration control section 60 by reading in the teaching point generation program 47 and implementing the control determined by the teaching point generation program 47.

[0105] The regeneration control section 60 acquires the position of the teaching point set by the teaching point setting section 55. Alternatively, the regeneration control section 60 acquires the posture of the robot 1 at the teaching point set by the teaching point setting section 55. Further, the posture of the robot 1 at the time of the regeneration control can also adopt the posture of the robot 1 at the time of the setting control. The regeneration control section 60 sends out an instruction to drive the robot 1 to the motion control section 43 so as to move the welding torch 2 in a state in which the welding control device 5 is not driven. The operator can confirm the change in the position and the posture of the robot 1 when the welding is actually performed.

[0106] The tip point of the welding wire 19 (tool tip point) moves along the welding line WL1 as indicated by an arrow 99. At this time, the work position detection section 52 can also detect the welding position again according to the output of the laser sensor 27. The teaching point setting section 55 can also correct the position of the teaching point that has been generated according to the welding position detected by the work position detection section 52.

[0107] The regeneration control section 60 in the present embodiment gradually reduces the movement speed of the welding torch 2 in the vicinity of the end teaching point TPE that becomes the end of the work when the regeneration control is implemented. The regeneration control section 60 implements a control that reduces the driving speed of the robot 1. The range of the position of the robot 1 in which the movement speed of the welding torch 2 is reduced can be determined in advance. Alternatively, the regeneration control section 60 can gradually reduce the driving speed of the robot 1 as the end teaching point TPE is approached.

[0108] The operator stops the reproduction control by operating the teaching operation panel 3 in the vicinity of the end teaching point TPE. Next, the operator manually drives the robot 1 by operating the input section 3a of the teaching operation panel 3, whereby the position of the end teaching point TPE can be set. That is, the operator can correct the position of the end teaching point TPE. The teaching point setting section 55 corrects the position of the end teaching point TPE in correspondence with the operation of the input section 3a by the operator. The corrected teaching point can be stored in the storage section 42.

[0109] For example, in a case where the welding position cannot be detected by the work position detection section 52, the end setting control is sometimes performed. The end teaching point is sometimes set to deviate from the desired end teaching point. In this case, the operator can manually correct the end teaching point. Alternatively, the end teaching point at which the welding is ended is an important teaching point which greatly affects the quality of the workpiece, and thus the operator can set a more accurate position of the end teaching point.

[0110] The reproduction control section 60 of the present embodiment performs control to reduce the driving speed of the robot 1 in a predetermined range in the vicinity of the end teaching point. By performing this control, the moving speed of the welding torch 2 is reduced, and thus the operator can easily stop the robot 1 at the desired position.

[0111] However, in a case where the welding is actually performed, the robot device 8 performs control to approach the start teaching point TPS after performing movement of the front end point of the welding torch 2 to a movement point in the vicinity of the start teaching point TPS before starting the actual work. Such a movement point in the vicinity of the start teaching point TPS is referred to as an approach point. That is, the robot control device 4 configures the robot 1 at the start teaching point TPS after configuring the robot 1 at the approach point.

[0112] Referring to Figure 6 , the teaching point setting section 55 can set the position and posture of the robot 1 which causes the welding torch 2 to retreat in a predetermined direction and by a predetermined distance from the start teaching point TPS as the approach point. For example, the teaching point setting section 55 can set a point which causes the welding torch 2 to retreat in the direction of the Z axis of the tool coordinate system from the start teaching point TPS as the approach point. By this control, even if the operator does not teach the approach point, the processing section 51 can automatically generate a teaching point corresponding to the approach point. In addition, the processing section 51 can generate the approach point during the control to generate a plurality of teaching points is performed. The number of teaching points set by the operator can be reduced.

[0113] In addition, referring to Figure 15When the actual welding work ends, the robot device 8 changes the position and posture of the robot 1 after the front end point of the welding torch 2 is disposed at a point away from the workpieces 81, 82 in order to perform the next work. That is, the robot control device 4 changes the position and posture of the robot 1 after the position of the robot 1 is disposed at a movement point that retreats from the end teaching point TPE in order to perform the next work. The movement point is called an avoidance point. The teaching point setting section 55 of the present embodiment can automatically set the avoidance point when the end teaching point TPE is set.

[0114] The teaching point setting section 55 can set the position of the robot 1 that makes the welding torch 2 retreat from the workpieces 81, 82 by a predetermined distance and in a predetermined direction from the end teaching point TPE as the avoidance point as indicated by the arrow 100. For example, the teaching point setting section 55 can set a movement point that makes the welding torch 2 retreat in the direction of the Z axis of the tool coordinate system from the end teaching point TPE as the avoidance point. By this control, the processing section 51 can automatically generate a teaching point corresponding to the avoidance point even if the operator does not teach the avoidance point. The number of teaching points set by the operator can be reduced.

[0115] In the present embodiment, the corner welding that performs welding of a portion where two members contact to become an angle is described as an example, but is not limited to this. In the butt welding that performs welding in a manner where end surfaces of two members face each other, the control of the present embodiment that generates a teaching point can be implemented. In addition, the surface of the workpiece of the present embodiment is a plane, but is not limited to this. In a case where work is performed on a workpiece that includes a curved surface, the control of the present embodiment can be applied. For example, in a case where work is performed on a curved surface, the control of the present embodiment can be implemented by shortening the distance from the teaching point to the exploration point.

[0116] Also, in the present embodiment, the robot device that performs arc welding is described as an example, but is not limited to this. The control of the present embodiment can be applied to any robot device that performs work along a work line. For example, the control of the present embodiment can be applied to a robot device that performs laser welding or a robot device that has a work tool that applies an adhesive.

[0117] The above-described embodiments can be appropriately combined. In the above-described drawings, the same symbols are attached to the same or equivalent portions. Furthermore, the above-described embodiments are examples and do not limit the invention. In addition, in the embodiments, changes to the embodiments shown by the technical solutions for which patent rights are claimed are included.

[0118] Symbol Explanation

[0119] 1 robot

[0120] 2 welding torch

[0121] 3 teaching operation panel

[0122] 3a input section

[0123] 4 robot control device

[0124] 8 robot device

[0125] 10 control device

[0126] 27 laser sensor

[0127] 30 irradiation range

[0128] 31 center line

[0129] 32 irradiation line

[0130] 40 motion program

[0131] 52 work position detection section

[0132] 53 exploration point calculation section

[0133] 54 command section

[0134] 55 teaching point setting section

[0135] 60 reproduction control section

[0136] 81, 82 workpiece

[0137] 101 rotation axis

[0138] TP1 to TP6 teaching points

[0139] SP1 to SP3 exploration points

[0140] MP2 movement point

[0141] WL1, WL4, WL5 welding lines

Claims

1. A teaching point generation device that generates a teaching point of a robot device having a robot and a work tool, characterized by comprising: a sensor that detects a work position on a work line where the robot device works on a workpiece; a search point calculation section that calculates a position of a search point for determining a next teaching point along the work line based on at least one teaching point; an instruction section that drives the robot so that a position of the robot moves to a movement point corresponding to the search point; and a teaching point setting section that sets a position of a teaching point based on the work position detected by the sensor after the position of the robot moves to the movement point, wherein a position of a plurality of teaching points along the work line is set by repeatedly performing a setting control including the calculation of the position of the search point by the search point calculation section, the driving of the robot by the instruction section, and the setting of the position of the teaching point by the teaching point setting section, wherein the instruction section drives the robot so that the sensor rotates around a predetermined rotation axis after the position of the robot moves to the movement point in a case where the sensor cannot detect the work position, and wherein the sensor performs the detection of the work position at a position after the rotation.

2. A teaching point generation device that generates a teaching point of a robot device having a robot and a work tool, characterized by comprising: a sensor that detects a work position on a work line where the robot device works on a workpiece; a search point calculation section that calculates a position of a search point for determining a next teaching point along the work line based on at least one teaching point; an instruction section that drives the robot so that a position of the robot moves to a movement point corresponding to the search point; and a teaching point setting section that sets a position of a teaching point based on the work position detected by the sensor after the position of the robot moves to the movement point, wherein a position of a plurality of teaching points along the work line is set by repeatedly performing a setting control including the calculation of the position of the search point by the search point calculation section, the driving of the robot by the instruction section, and the setting of the position of the teaching point by the teaching point setting section, wherein the search point calculation section calculates a position of a corrected search point so that a distance from the teaching point to the search point is shorter than a distance from a current teaching point to the search point after the position of the robot moves to the movement point in a case where the sensor cannot detect the work position, wherein the instruction section drives the robot so that the position of the robot moves to a movement point corresponding to the position of the corrected search point, and wherein the sensor performs the detection of the work position.

3. The teaching point generation device according to claim 1 or 2, characterized in that the teaching point generation device has an operation panel that manually operates an action of the robot device, and the operation panel has an input section that can adjust the distance from the teaching point to the search point.

4. The teaching point generation device according to claim 1 or 2, characterized in that ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ In a case where the work line along the path from the teaching point toward the exploration point is linear, the exploration point calculation section sets the distance from the teaching point to the exploration point as a first distance, and in a case where the work line along the path from the teaching point toward the exploration point is curved, the exploration point calculation section sets the distance from the teaching point to the exploration point as a second distance shorter than the first distance.

5. The teaching point generation device according to claim 1 or 2, wherein a teaching point indicating a start of the work, that is, a start teaching point is predetermined, the start teaching point is predetermined, the instruction section implements control to cause the work tool to retreat from the work piece by a predetermined distance in a predetermined direction from the start teaching point, the setting control is implemented while maintaining the state in which the work tool retreats from the work piece.

6. The teaching point generation device according to claim 1 or 2, wherein a teaching point indicating a start of the work, that is, a start teaching point is predetermined, the start teaching point is predetermined, the teaching point setting section implements control to set a position at which the work tool retreats from the work piece by a predetermined distance in a predetermined direction from the start teaching point as a position of an approach point before actual start of the work, and control to set a position at which the work tool retreats from the work piece by a predetermined distance in a predetermined direction from an end teaching point as a position of an avoidance point after actual end of the work, the end teaching point being a teaching point indicating an end of the work.

7. The teaching point generation device according to claim 1 or 2, wherein the teaching point generation device has: an operation panel that operates the robot device by hand; and a reproduction control section that implements reproduction control of driving the robot in accordance with the teaching points generated in the setting control, the operation panel has an input section that is formed to change the position and the posture of the robot by hand, the reproduction control section, when implementing the reproduction control, implements control to reduce the driving speed of the robot to reduce the moving speed of the work tool in a predetermined range in the vicinity of an end teaching point indicating an end of the work, and stops the reproduction control in correspondence with the operation of the operation panel by the operator, the teaching point setting section corrects the position of the end teaching point in correspondence with the operation of the input section by the operator.

8. A teaching point generation method of generating a teaching point of a robot device having a robot and a work tool, the teaching point generation method characterized by comprising: an exploration point calculation process of calculating a position of an exploration point for determining a next teaching point along a work line in accordance with at least one teaching point; a driving process of driving the robot to move the position of the robot to a movement point corresponding to the exploration point; a position detection process of detecting a work position on a work line at which the robot device works on a work piece using a sensor after the position of the robot is moved to the movement point; and a teaching point setting process of setting a position of a teaching point in accordance with the work position detected by the sensor. ​ ​ ​ By repeating the setting process including the exploration point calculation process, the driving process, the position detection process, and the teaching point setting process, positions of a plurality of teaching points along the work line are set, In a case where the sensor cannot detect the work position after the position of the robot is moved to the movement point, the robot is driven to rotate the sensor around the predetermined rotation axis, The sensor detects the work position after the rotation.

9. A teaching point generation method of generating a teaching point of a robot device having a robot and a work tool, the teaching point generation method comprising: an exploration point calculation process of calculating a position of an exploration point for determining a next teaching point along a work line based on at least one teaching point; a driving process of driving the robot to move a position of the robot to a movement point corresponding to the exploration point; a position detection process of detecting a work position on a work line on which the robot device performs work on a workpiece using a sensor after the position of the robot is moved to the movement point; and a teaching point setting process of setting a position of a teaching point based on the work position detected by the sensor, By repeating the setting process including the exploration point calculation process, the driving process, the position detection process, and the teaching point setting process, positions of a plurality of teaching points along the work line are set, In a case where the sensor cannot detect the work position after the position of the robot is moved to the movement point, the distance from the teaching point to the exploration point is made shorter than the distance from the current teaching point to the exploration point, and a position of a corrected exploration point is calculated, The robot is driven to move the position of the robot to a movement point corresponding to the position of the corrected exploration point, The sensor detects the work position. ​ ​

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