Teaching point generation device, teaching point generation method, and robot control device that generate teaching points based on sensor output.

The teach point generation device automatically sets teach points using sensor feedback to improve the efficiency and accuracy of robotic operations, particularly in arc welding, by calculating and positioning points along complex weld lines.

TWI933871BActive Publication Date: 2026-08-01FANUC LTD
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Patent Information

Application Number
TW111106786
Authority / Receiving Office
TW · TW
Patent Type
Patents
Current Assignee / Owner
Priority Date
2021-03-02
Filing Date
2022-02-24
Publication Date
2026-08-01
Estimated Expiration
2042-02-23

AI Technical Summary

Technical Problem

The manual setting of teaching points for robotic devices, especially in tasks like arc welding, is time-consuming and requires high skill due to the need for precise adjustments, particularly when dealing with curved weld lines, and the use of laser sensors for path correction necessitates pre-setting of teach points.

Method used

A teach point generation device and method that utilizes a sensor to detect the work position, calculates search points, and automatically sets teach points by moving the robot to these points, allowing for efficient and accurate positioning along a work line without requiring pre-generated paths.

Benefits of technology

Enables automatic and rapid setting of teach points, reducing the time and skill required, ensuring accurate placement even on complex weld lines, and avoiding collisions by retracting the welding torch during point setting.

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Abstract

The robot control device includes: a search point calculation unit that calculates the position of a search point based on at least one teach point; and a command unit that drives the robot to align its position with the search point. The robot control device also includes a teach point setting unit that sets the position of the teach point based on the work position detected by a laser sensor. The robot control device sets the positions of a plurality of teach points along the work line by repeatedly performing the processes of calculating the search point position by the search point calculation unit, driving the robot by the command unit, and setting the teach point positions by the teach point setting unit.
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