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

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.

Description

Technical Field

[0001] Invention Field

[0002] This invention relates to a teaching point generation apparatus and a teaching point generation method that generate teaching points based on the output of a sensor. Prior Technology

[0003] Background of the Invention

[0004] The robotic device comprises: a robot, a working tool mounted on the robot, and a control device for controlling the robot. The control device drives the robot and the working tool according to the work program. To determine the robot's position and posture during the work process, the operator can pre-teach a teaching point. The work program is created based on the position of the teaching point.

[0005] The location of the teaching point can sometimes have a significant impact on the quality of the work performed by a robotic device. For example, in a robotic device performing arc welding, the robot moves the welding torch along a working path determined by the teaching point. When the working path deviates from the required path, the welding position will also deviate.

[0006] To correct for such deviations in the welding position, a control method is known in which a laser sensor is disposed on the welding torch to correct the work path while welding is being performed. For example, while welding is being performed, the laser sensor detects the work position where welding should be performed. The known control device corrects the work path determined by the work program based on the work position detected by the laser sensor (e.g., Japanese Patent Application Publication No. 9-277045 and Japanese Patent Application Publication No. 8-166813).

[0007] Furthermore, there is a known control method that pre-generates a work path by specifying a start point and an end point, thereby enabling the robot to move along the work path while setting the welding position detected by the laser sensor as a teaching point (e.g., Japanese Patent Application Publication No. 7-104831). Prior technology documents Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 9-277045 Patent Document 2: Japanese Patent Application Publication No. 8-166813 Patent Document 3: Japanese Patent Application Publication No. 7-104831 Summary of the Invention

[0009] Invention Summary The problem the invention aims to solve

[0010] To ensure high-quality operation of the robotic device, it is essential to correctly set the teach points. Teach points, determined by the work program, are, for example, when an operator uses a teaching control panel to change the robot's position and posture to achieve the desired position and posture. Then, when the robot's position and posture are in the desired state, the teaching operation set as the teach point can be performed.

[0011] However, this teaching operation can sometimes be difficult to perform. For example, when manually adjusting the robot's position and posture for arc welding, the distance between the weld line to be welded and the tip of the welding torch becomes shorter. Operators sometimes have to adjust the position of the welding torch tip with an accuracy of less than 1 mm. Because many teaching points must be set along the weld line, the operation time becomes longer. Furthermore, operators need a high level of skill. Especially when the weld line contains curves, many teaching points must be generated within the range of variations in the weld line's extension direction. This presents a problem where operators need a significant amount of time to generate teaching points.

[0012] Furthermore, by mounting laser sensors on the robotic device, the welding operation can be performed simultaneously, and the laser sensor output can be used to correct the welding path. However, to implement this control, teach points must be pre-set. In other words, teach points that serve as the reference for the welding path must be determined in advance. The means to solve the problem

[0013] This disclosure discloses a teach point generation device that generates teach points for a robotic device equipped with a robot and a work tool. The teach point generation device includes a sensor for detecting the work position of the robotic device on a work line where it performs work on a workpiece. The teach point generation device includes: a search point calculation unit that calculates the position of a search point for determining the next teach point along the work line based on at least one teach point; and a command unit that drives the robot to move its position to a movement point corresponding to the search point. The teach point generation device also includes a teach point setting unit that sets the position of the teach point based on the work position detected by the sensor after the robot's position has moved to the movement point. The teach point generation device sets the positions of a plurality of teach points along the work line by repeatedly performing setting control, the setting control including: calculating the position of the search point by the search point calculation unit, driving the robot by the command unit, and setting the position of the teach point by the teach point setting unit.

[0014] Another aspect disclosed herein is a teach point generation method, which generates teach points for a robotic device equipped with a robot and a working tool. The teach point generation method includes: a search point calculation step, which calculates the position of a search point to determine the next teach point along the work line based on at least one teach point; and a driving step, which drives the robot to move its position to a movement point corresponding to the search point. The teach point generation method includes a position detection step, which detects the working position of the robotic device on the work line where it performs work on the workpiece after the robot's position has moved to the movement point using a sensor. The teach point generation method includes a teach point setting step, which sets the position of the teach point based on the working position detected by the sensor. By repeatedly performing the setting step, which includes the search point calculation step, the driving step, the position detection step, and the teach point setting step, the positions of a plurality of teach points along the work line are set. Invention Effects

[0015] Based on the form disclosed herein, a teaching point generation device and a teaching point generation method that automatically set the position of teaching points can be provided. Simple Explanation of the Diagram

[0016] Figure 1 is a schematic diagram of the robot device in its implementation. Figure 2 is a block diagram of the robot device in its implementation form. Figure 3 is a perspective view of the workpiece and welding torch during welding using the robotic device in its implementation. Figure 4 is an enlarged perspective view of the welding torch and laser sensor in the embodiment. Figure 5 is a perspective view of the workpiece and welding torch when the starting teaching point for starting welding is set. Figure 6 is a perspective view of the workpiece and the welding torch when the welding torch is withdrawn from the starting teaching point. Figure 7 is a perspective view of the workpiece and the welding torch when the welding torch is moved to the position corresponding to the search point. Figure 8 is a diagram illustrating the control of setting the search point and the position of the next teaching point based on two teaching points. Figure 9 is another diagram illustrating the control of setting the search point and the position of the next teaching point based on two teaching points. Figure 10 is a diagram illustrating the teaching points generated by the setting control in the implementation form. Figure 11 is a perspective view of the workpiece and the welding torch when the welding torch has traveled to the position corresponding to the end teaching point. Figure 12 is a diagram illustrating the first step of control when the laser sensor cannot detect the welding operation position. Figure 13 illustrates the second step of control when the laser sensor cannot detect the welding operation location. Figure 14 is a diagram of the welding path when welding along a weld line that includes straight lines and curves. Figure 15 is a perspective view of the workpiece and welding torch during the implementation of regeneration control. Implementation

[0017] Forms used to implement inventions

[0018] Referring to Figures 1 to 15, the teaching point generation device and teaching point generation method of the embodiment will be explained. In this embodiment, a robot device that fixes a plurality of workpieces by arc welding will be used as an example for explanation.

[0019] Figure 1 is a schematic diagram of the robot device of this embodiment. Figure 2 is a block diagram of the robot device of this embodiment. Referring to Figures 1 and 2, the robot device 8 includes a welding torch 2 as a working tool and a robot 1 for moving the welding torch 2. The robot 1 of this embodiment is a multi-joint robot including a plurality of joints.

[0020] Robot 1 includes a base portion 14 and a rotating base 13 supported on the base portion 14. The base portion 14 is fixed to a mounting surface. The rotating base 13 rotates relative to the base portion 14. Robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported on the rotating base 13 via a joint. The upper arm 11 is supported on the lower arm 12 via a joint. Robot 1 includes a wrist 15 connected to the end of the upper arm 11. The wrist 15 is supported on the upper arm 11 via a joint. A welding torch 2 is fixed to the flange 16 of the wrist 15. Furthermore, the working tool is not limited to a welding torch; any device corresponding to the operation performed by the robot can be used.

[0021] The robot 1 of this embodiment has six drive axes. The robot 1 includes a robot drive unit that drives the upper arm 11 and other constituent components of the robot 1. The robot drive unit of this embodiment includes a plurality of robot drive motors 22 for driving the upper arm 11, lower arm 12, rotary base 13, and wrist 15. At the joints, the position and posture of the robot 1 change due to changes in the orientation of its constituent components.

[0022] The control device 10 of the robot device 8 includes a robot control device 4 for controlling the robot 1. The robot control device 4 includes an arithmetic processing unit (computer) having a CPU (Central Processing Unit) as a processor. The arithmetic processing unit has RAM (Random Access Memory) and ROM (Read Only Memory) connected to the CPU via a bus.

[0023] The robot device 8 includes a metal wire supply device 18 for supplying metal wire 19 to the welding torch 2. The metal wire supply device 18 supplies the welding torch 2 with the metal wire 19 consumed during welding. In this embodiment, the metal wire supply device 18 is fixed to the robot 1.

[0024] The control device 10 of the robot device 8 includes a welding control device 5 that controls the welding torch 2 and the metal wire supply device 18. The welding control device 5 includes a CPU as a processor and an arithmetic processing unit, which has RAM connected to the CPU via a bus. Furthermore, the welding control device 5 includes circuitry for supplying power to the welding torch 2 and the metal wire supply device 18. The welding control device 5 is configured to communicate with the robot control device 4. The welding control device 5 supplies power to the welding torch 2 or supplies metal wire 19 in response to the actions of the robot 1. In this embodiment, the welding control device 5 is controlled by the robot control device 4.

[0025] The robot control device 4 includes a teaching control panel 3, which allows the operator to manually operate the robot device 8. The teaching control panel 3 includes an input section 3a, which inputs information about the robot 1 and the welding torch 2. The input section 3a is composed of components such as a keyboard and a dial. The teaching control panel 3 includes a display section 3b, which displays information about the control of the robot device 8. The display section 3b is composed of a display panel such as a liquid crystal display panel. Alternatively, the display section 3b may include a touch panel. In this case, the display section 3b also functions as the input section 3a.

[0026] The robot control device 4 drives the robot and the work tool according to the action program 40. The action program 40 in this embodiment includes a work program 41, which is used to perform predetermined operations such as welding with the robot device 8. The position and posture of the robot 1 are changed according to the teaching points determined by the work program 41. The welding control device 5 supplies current to the welding torch 2 or controls the metal wire supply device 18 according to the work program 41.

[0027] The robot control device 4 includes a memory unit 42, which stores information about the control of the robot 1 and the welding torch 2. The memory unit 42 can be constructed using a non-temporary memory medium capable of storing information, such as volatile memory, non-volatile memory, or a hard drive. An action program 40, including an operating program 41 and a teach point generation program 47, is stored in the memory unit 42.

[0028] In the operating program 41, a teaching point for driving the robot device 8 is determined. The robot control device 4 includes a motion control unit 43, which sends motion commands to the robot 1 and the welding torch 2. The motion control unit 43 is equivalent to a processor that drives the robot according to the operating program 41. The processor reads the operating program 41 and implements the control determined by the operating program 41, thereby functioning as the motion control unit 43. Alternatively, the processor drives the robot 1 according to instructions from the processing unit 51 or from the regeneration control unit 60, thereby functioning as the motion control unit 43.

[0029] The motion control unit 43 sends motion commands to drive the robot 1 to the robot drive unit 45. The robot drive unit 45 includes circuitry for driving the robot drive motor 22. The robot drive unit 45 supplies power to the robot drive motor 22 according to the motion commands. Furthermore, the motion control unit 43 controls the operation of the welding torch 2. According to the operating program 41, the motion control unit 43 sends motion commands to drive the welding torch 2 and the metal wire supply device 18 to the welding control device 5. The welding control device 5 supplies power to the welding torch 2 and the metal wire supply device 18 according to the motion commands.

[0030] Robot 1 includes a state detector for detecting the position and orientation of robot 1. In this embodiment, the state detector includes a position detector 23 mounted on the robot drive motor 22. The orientation of the robot 1's components along each drive axis can be obtained from 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 this embodiment, the position and orientation of robot 1 are detected based on the outputs of a plurality of position detectors 23.

[0031] In this embodiment of the robot device 8, a world coordinate system 71 is provided. In the example shown in FIG1, the origin of the world coordinate system 71 is disposed on the base 14 of the robot 1. The world coordinate system 71 is also referred to as the reference coordinate system of the robot device 8. The world coordinate system 71 is a coordinate system in which the position of the origin is fixed and the direction of the coordinate axes is fixed. Even if the position and posture of the robot 1 change, the position and coordinates of the world coordinate system 71 will not change. The world coordinate system 71 has mutually orthogonal X-axis, Y-axis, and Z-axis as coordinate axes. Furthermore, a W-axis is provided as a coordinate axis around the X-axis. A P-axis is provided as a coordinate axis around the Y-axis. An R-axis is provided as a coordinate axis around the Z-axis.

[0032] In this embodiment, a tool coordinate system is provided, which has an origin set at any position on the working tool. In this embodiment, the origin of the tool coordinate system 72 is set at the tip of the tool. The tool coordinate system 72 has mutually orthogonal X-axis, Y-axis, and Z-axis 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 in Figure 1, the origin of the tool coordinate system 72 is set at the tip of the metal wire 19. Furthermore, the tool coordinate system 72 is configured such that the extension direction of the Z-axis is parallel to the extension direction of the metal wire 19 protruding from the tip of the welding torch 2.

[0033] When the position and posture of robot 1 change, the position and orientation of the origin of tool coordinate system 72 will change. For example, the position of robot 1 corresponds to the position of the tool tip (the position of the origin of tool coordinate system 72). Also, the posture of robot 1 corresponds to the orientation of tool coordinate system 72 relative to world coordinate system 71.

[0034] The robot device 8 includes a teach point generation device, which generates teach points for the robot device 8, which includes the robot 1 and the welding torch 2. In this embodiment, the robot control device 4 functions as the teach point generation device. The robot control device 4 includes a laser sensor 27, which detects the working position on the work line of the workpiece being worked on by the robot device 8. In this embodiment, the welding position, which is the working position on the welding line of workpieces 81 and 82, is detected based on the output of the laser sensor 27. Furthermore, a teach point generation program 47 is pre-generated, which drives the robot device 8 to generate teach points.

[0035] The sensor used to detect the working position of the robot device 8 is not limited to a laser sensor; any sensor capable of detecting the working position can be used. For example, a three-dimensional sensor can be used. As a three-dimensional sensor, a stereo camera that detects the three-dimensional position by using a TOF (Time of Flight) camera or two two-dimensional cameras to capture parallax can be used. The aforementioned TOF camera captures distance images using the time-of-flight method.

[0036] The robot control device 4 includes a processing unit 51, which processes the output of the laser sensor 27 to generate teaching points. The processing unit 51 includes a work position detection unit 52, which detects the work position of the welding torch 2 based on the output of the laser sensor 27. The processing unit 51 includes a search point calculation unit 53, which calculates the position of a search point to determine the next teaching point along the work line based on at least one teaching point. The processing unit 51 includes a command unit 54, which drives the robot 1 to move its position to a movement point corresponding to the search point. Furthermore, the processing unit 51 includes a teaching point setting unit 55, which 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.

[0037] The processing unit 51, the work position detection unit 52, the search point calculation unit 53, the instruction unit 54, and the teaching point setting unit 55 are each equivalent to a processor driven by the teaching point generation program 47. The processor reads the teaching point generation program 47 and implements control determined by the teaching point generation program 47, thereby performing its functions as each unit.

[0038] Figure 3 shows an enlarged perspective view of the workpiece and welding torch during welding using the robot device of this embodiment. Referring to Figures 1 and 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. Workpieces 81 and 82 in this embodiment are plate-shaped components. The surfaces of workpieces 81 and 82 in this embodiment are each planar. Workpieces 81 and 82 are fixed to the stand 89 by means of a fixture (not shown).

[0039] 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 is the weld 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 so that the tool tip of the welding torch 2 moves along the weld line WL1 as shown by arrow 91. Welding beads 80 are formed on the welded portion. The teaching point generation device of this embodiment generates teaching points for the robot device 8 performing this type of operation.

[0040] Figure 4 shows an enlarged perspective view of the welding torch and laser sensor of this embodiment. The laser sensor 27 of this 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 of this embodiment emits laser light within an irradiation range 30 with a predetermined emission angle. The irradiation range 30 is planar. Specifically, the irradiation range 30 of this embodiment is fan-shaped. Figure 4 shows the state when the planar surface of a workpiece is irradiated with laser light. On the surface of the workpiece, an irradiation line 32 is defined corresponding to the irradiation range 30. In this embodiment, the line passing through a predetermined point of the laser sensor 27 and the midpoint of the width W of the irradiation line 32 is called the central line 31 of the irradiation range 30.

[0041] The laser sensor 27 can be any sensor having a mechanism that emits laser light in a fan-shaped illumination range 30. For example, a sensor that deflects and scans the laser light can be used. The sensor that deflects and scans the laser light includes a wobbling mirror that changes the emission direction of the laser light. By wobbling the wobbling mirror, the laser light is emitted within a predetermined emission angle range. Furthermore, this laser sensor includes a light-receiving element that receives the laser light reflected from the surface of the workpiece. Based on the direction of the laser light emitted by the wobbling mirror and the position of the laser light on the light-receiving element, the position of the laser light reflected from the workpiece can be detected. In particular, the position along the width of the illumination range and the distance from the laser sensor to the surface of the workpiece can be detected. The position of the reflected laser light can be calculated using a coordinate system set for the laser sensor.

[0042] The position where the laser light is reflected on the surface of the workpiece can be calculated using the coordinate system of the sensor. Then, a line connecting the plurality of positions detected by the laser light scanning can be generated. The welding position on the weld line can be detected based on the line connecting the plurality of positions. For example, the point where the line connecting the plurality of positions bends can be set as the welding position where welding should be performed. Furthermore, the welding position represented by the coordinate system of the sensor can be converted into the welding position represented by the world coordinate system 71 based on the position and posture of the robot 1.

[0043] Figure 5 is a perspective view showing the workpiece and welding torch when the robot is positioned at the start teaching point for welding. The operator first sets the start teaching point (TPS), indicating the start of welding. The operator sets the TPS by manually driving the robot 1. The operator operates the input section 3a of the teaching control panel 3 to change the position and posture of the robot 1. Then, the position of the robot 1 is adjusted so that the tip of the metal wire 19 (tool tip point) is positioned at the start point of welding. Furthermore, the posture of the robot 1 is adjusted so that the welding torch 2 achieves the desired target angle and advance angle. Furthermore, in this embodiment, the advance angle is used as an example, but it could also be a retreat angle.

[0044] At this point, the operator should adjust the rotational position of the flange 16 of the wrist 15 so that the laser sensor 27 is positioned in the extension direction of the fusion splice WL1. In particular, the laser sensor 27 should be positioned so that the fusion splice WL1 to be fused will enter the irradiation range 30 of the laser light.

[0045] Thus, in this embodiment, a start teaching point is preset. Furthermore, the start teaching point can be set in any way. For example, the operator can also set the start teaching point TPS by inputting the coordinate values ​​of a predetermined coordinate system from the input section 3a of the teaching operation panel 3. Then, the operator operates the input section 3a of the teaching operation panel 3, thereby the robot control device 4 automatically begins to control the generation of the teaching point.

[0046] Figure 6 shows a perspective view of the welding torch being withdrawn from the starting teaching point in a predetermined direction. Referring to Figures 1, 2, and 6, the command unit 54 of the processing unit 51 controls the welding torch 2 to withdraw from the workpieces 81 and 82 from the starting teaching point TPS in a predetermined direction and a predetermined distance. In this example, the command unit 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 moves from the starting teaching point TPS to the moving point MPS. As shown by arrow 93, the leading end of the metal wire 19 moves away from the starting teaching point TPS. The direction in which the welding torch 2 withdraws is not limited to the Z-axis of the tool coordinate system 72; any direction away from the workpieces 81 and 82 can be used. At this time, it is advisable to move the welding torch 2 in the direction and distance that the laser sensor 27 can capture of the weld line WL1.

[0047] The robot control device 4 performs setting control while moving the welding torch 2 along the weld line WL1 and setting the position of the teaching point. In this embodiment, the setting of the teaching point position is repeated while maintaining the state where the welding torch 2 has been withdrawn from the workpieces 81 and 82. That is, while the tool tip has left the weld line WL1, the position of the teaching point is set while moving the welding torch 2 in the direction along the weld line WL1.

[0048] In this embodiment, during the setting control of the teaching point position, robot 1 is set to a predetermined posture. For example, the operator can input the posture of robot 1 used for setting control into the robot control device 4 in advance. Alternatively, the posture of robot 1 when the operator sets the start teaching point TPS can be maintained.

[0049] First, the teaching point setting unit 55 sets the position of the teaching point TP1 based on the position of the starting teaching point TPS. A fusion splice line WL1, serving as a work line, is disposed within the irradiation range 30 of the laser light from the laser sensor 27. The irradiation range 30 intersects the direction in which the fusion splice line WL1 extends. The work position detection unit 52 detects the position of the fusion splice line WL1 based on the output of the laser sensor 27, that is, it detects the welding position where welding should be performed. In this embodiment, the teaching point setting unit 55 sets this welding position as the position of the teaching point TP1.

[0050] Figure 7 shows a perspective view of the welding torch and workpiece, illustrating the control of setting the position of the next teaching point. Figure 8 shows a diagram illustrating the control of setting the position of the next teaching point. Referring to Figures 7 and 8, the processing unit 51 generates the next teaching point TP2 along the weld line WL1 based on the already set teaching points TPS and TP1.

[0051] The search point calculation unit 53 performs a search point calculation step, which calculates the position of the search point used to determine the next teaching point along the weld line WL1 based on at least one teaching point. The search point calculation unit 53 calculates a straight line extending from the starting teaching point TPS to the teaching point TP1, as shown by arrow 94. As shown by arrow 95, the search point calculation unit 53 sets the search point SP2 on the extension of the straight line of arrow 94. The distance from the reference teaching point to the search point can be predetermined. In this example, the straight-line distance from teaching point TPS to search point SP2 can be predetermined.

[0052] Next, the command unit 54 performs a driving step, which drives robot 1 to move its position to the movement point MP2 corresponding to search point SP2. The command unit 54 calculates the position of robot 1 corresponding to search point SP2, i.e., the position of movement point MP2. The command unit 54 calculates the position of movement point MP2 after moving robot 1 from movement point MPS, using the same direction and distance (direction and distance shown by arrow 95) from teaching point TP1 to search point SP2. The command unit 54 drives robot 1 to position it at the calculated movement point MP2. The command unit 54 moves the welding torch 2 as shown by arrow 96.

[0053] Next, the work position detection unit 52 performs a position detection step, which uses the laser sensor 27 to detect the work position on the weld line WL1. After the robot 1 moves to the movement point MP2 corresponding to the search point SP2, the work position detection unit 52 detects the welding position for welding workpieces 81 and 82 based on the output of the laser sensor 27.

[0054] Next, the teach point setting unit 55 performs a teach point setting step, which sets the teach point based on the weld position detected by the laser sensor 27. In this embodiment, the teach point setting unit 55 obtains the weld position from the work position detection unit 52 and sets this weld position as the position of the teach point TP2. In the example shown in Figures 7 and 8, the teach point TP2 is slightly offset from the search point SP2.

[0055] In this embodiment, the control that includes calculating the position of the search point by the search point calculation unit 53, driving the robot 1 by the command unit 54, and setting the position of the teach point by the teach point setting unit 55 is called setting control. The robot control device 4 generates a plurality of teach points along the weld line WL1 by repeatedly performing setting control. Furthermore, the robot control device 4 sets the positions of the plurality of teach points. In other words, the robot control device 4 sets the positions of the plurality of teach points along the weld line WL1 by repeatedly performing setting steps that include a search point calculation step, a driving step, a position detection step, and a teach point setting step.

[0056] Figure 9 illustrates the control for setting the position of the next teaching point. Referring to Figures 7 and 9, the processing unit 51 repeats the same setting control as the setting control for the position of teaching point TP2. In this embodiment, the processing unit 51 sets teaching point TP3 based on teaching points TP1 and TP2 set by the most recent control.

[0057] The search point calculation unit 53 calculates the straight line from teaching point TP1 to teaching point TP2 as shown by arrow 96. As shown by arrow 97, the search point calculation unit 53 sets the search point SP3 on the extension of the straight line shown by arrow 96. The distance from teaching point TP2 to search point SP3 can be a predetermined distance. For example, the distance from teaching point TP2 to search point SP3 can be the same as the distance from teaching point TPS to search point SP2. Based on the position of teaching point TP2 set by the previous setting control and the position of teaching point TP1, which was set earlier than teaching point TP2 by the previous setting control, the search point calculation unit 53 calculates the position of the search point SP3 used to determine the next teaching point TP3.

[0058] The command unit 54 calculates the position of the moving point corresponding to search point SP3. The command unit 54 calculates the direction and distance from search point SP2 to search point SP3. Based on the direction and distance from search point SP2 to search point SP3 and the position of moving point MP2, the command unit 54 calculates the position of the moving point corresponding to search point SP3. The command unit 54 moves the position of robot 1 to the moving point corresponding to search point SP3. Here, the command unit 54 changes the position of robot 1 so that the center line 31 of the irradiation range 30 passes through search point SP3. In this embodiment, the extension direction of the irradiation line 32 is parallel to the irradiation line 32 when laser light is irradiated onto workpieces 81 and 82 at moving point MP2.

[0059] The work position detection unit 52 detects the welding position based on the output of the laser sensor 27 after the robot 1 moves to the movement point corresponding to the search point SP3. Then, the teaching point setting unit 55 sets the position of the teaching point TP3 based on the welding position detected by the work position detection unit 52.

[0060] Figure 10 shows the welding path generated by repeatedly performing setting control. The path through teach points TPS, TP1, TP2, and TP3 becomes the welding path WP1, which serves as the working path. Thus, the teach point generation device of this embodiment can set the position of the teach points along with the generated teach points by repeatedly performing setting control. Furthermore, in the teach point generation method of this embodiment, the position of the teach points can be set along with the generated teach points by repeatedly performing the setting step.

[0061] The teaching point setting unit 55 can calculate the operation path based on the position of the teaching points. The teaching point setting unit 55 can set the posture of robot 1 at each teaching point based on the operation path. For example, the teaching point setting unit 55 can set the posture of robot 1 such that the welding torch has a predetermined forward or backward angle and a predetermined target angle based on the generated operation path. The teaching point setting unit 55 can calculate the posture of robot 1 separately for each teaching point.

[0062] The teach point generation apparatus and method of this embodiment can generate teach points even without pre-generating a robot path as a reference. Furthermore, since teach points can be generated automatically, even less skilled operators can easily generate them. Moreover, operators can generate teach points in a short time. Furthermore, since the welding position on the weld line is detected by a sensor, teach points can be set at the correct location.

[0063] In this embodiment, the search point calculation unit 53 calculates the position of the search point used to determine the next teaching point based on the position of the teaching point set by the previous setting control and the position of the teaching point set earlier than the teaching point set by the previous setting control. By controlling this, a search point can be set near the next teaching point using the already set teaching points. Specifically, in this embodiment, the search point calculation unit 53 calculates the position of the search point based on the position of the teaching point set by the previous setting control and the position of the teaching point set by the setting control before that. That is, the search point calculation unit 53 calculates the position of the search point based on the positions of two consecutive teaching points. By controlling the calculation of the search point position based on the positions of two consecutive teaching points, the computational workload of calculating the search point can be reduced.

[0064] Furthermore, the search point calculation unit 53 can also calculate the position of the search point corresponding to the next teaching point based on the positions of three or more teaching points. For example, the search point calculation unit can also calculate a straight line using the least squares method based on the positions of three or more teaching points, and set the search point on this straight line. Also, in the above embodiment, the search point is set on the extension of the straight line connecting the plurality of teaching points, but this embodiment is not limited to. For example, the search point calculation unit can also set the search point on the extension of a curve such as an arc passing through the plurality of teaching points.

[0065] In this embodiment, setting control is performed while maintaining the welding torch 2 in a state where it has retracted from the workpieces 81 and 82. By implementing this control, collisions between the welding torch 2 and the workpieces 81 and 82, or with fixed components disposed around the workpieces 81 and 82, can be avoided. For example, when the workpiece is curved, if the welding torch moves in a straight line to the movement point corresponding to the search point, the welding torch may sometimes collide with the workpiece. By setting the position of the teach point while the welding torch is away from the workpiece, collisions between the welding torch and other objects can be avoided. Furthermore, setting control can also be performed without retracting the welding torch from the workpiece. That is, the position of the teach point can also be set while maintaining the tool tip point near the weld line.

[0066] The sensor in this embodiment is a laser sensor 27, which emits laser light from a planar irradiation range 30 with a predetermined emission angle. By adopting this configuration, the position of the welding torch 2 can be controlled by utilizing the width direction of the irradiation range 30 and the center line 31 of the irradiation range 30.

[0067] Figure 11 shows a perspective view of the tool and welding torch when the welding position detected by the laser sensor reaches the end point of welding after repeated setting control. The example shown in Figure 11 illustrates the start teaching point TPS, teaching points TP1-TP4, and the end teaching point TPE. The conditions for ending the setting control can be predetermined. For example, the range of search points for ending the setting control can be predetermined. When the search point calculated by the search point calculation unit 53 reaches the predetermined range, the teaching point detected corresponding to that search point can be set as the end teaching point, i.e., the end teaching point TPE, for the end of the operation.

[0068] Alternatively, the location range of the end teaching point can be predetermined. When the newly generated teaching point is within the location range of the end teaching point, the teaching point can be set as the end teaching point (TPE) and the setting control can be terminated.

[0069] Alternatively, after the robot moves to the movement point corresponding to the search point, if the work position detection unit 52 cannot detect the welding position based on the output of the laser sensor 27, the setting control can also be terminated. At this time, the teach point setting unit 55 can set the last set teach point among the already set teach points as the end teach point TPE.

[0070] Alternatively, when the laser beam reaches near the end point of the weld, the operator can also end the setting control by operating the instruction control panel 3. Furthermore, the operator can also move the weld torch 2 and set the end instruction point TPE by operating the instruction control panel 3.

[0071] Figure 12 illustrates the control procedure when the laser sensor cannot detect the weld position. In the example shown in Figure 12, a teaching point is generated along the weld line WL4. The weld line WL4 has a curved portion with a small radius of curvature. In this example, the search point SP2 is calculated based on the starting teaching point TPS and the teaching point TP1. Then, the position of robot 1 is moved to the movement point corresponding to the search point SP2, and the position of the teaching point TP2 is set.

[0072] Next, the search point calculation unit 53 calculates the position of the search point SP3 based on the positions of the teaching points TP1 and TP2. The command unit 54 calculates the position of the moving point corresponding to the search point SP3. The command unit 54 changes the position of the robot 1 so that the center line 31 of the laser beam irradiation range 30 passes through the search point SP3. However, the laser beam irradiation line 32 leaves the weld line WL4. Therefore, the work position detection unit 52 cannot detect the weld position based on the output of the laser sensor 27. Thus, after the robot 1 moves to the moving point, sometimes the weld position cannot be detected by the output of the laser sensor 27.

[0073] At this time, the command unit 54 can drive the robot 1 to rotate the laser sensor 27 around a predetermined rotation axis 101. Referring to Figures 4 and 12, in this example, the drive shaft of the flange 16 of the robot 1 is set to the rotation axis 101. The command unit 54 implements control to rotate the welding torch 2 around the rotation axis 101 as shown by arrow 92. As the welding torch 2 rotates, the laser sensor 27 will rotate.

[0074] The angle at which the laser sensor 27 rotates can be predetermined. For example, the command unit 54 can cause the laser sensor 27 to rotate within a predetermined angle range relative to the direction from the teaching point TP2 to the search point SP3, as indicated by arrow 97. The command unit 54 can stop the rotation of the laser sensor 27 at each predetermined angle. Then, the work position detection unit 52 performs work position detection at the rotated position.

[0075] Figure 13 shows the situation when the laser sensor is rotated. Referring to Figures 12 and 13, by rotating the laser sensor 27 around the rotation axis 101, the weld line WL4 will be within the range of the irradiation line 32. The work position detection unit 52 can detect the weld position based on the output of the laser sensor 27.

[0076] Thus, when the working position cannot be detected from the output of the laser sensor 27, peripheral search control can be implemented. The peripheral search control involves rotating the laser sensor 27 to detect the weld position. The teach point setting unit 55 sets the weld position detected by the peripheral search control as the position of the teach point TP3. By implementing this control, the weld position can be detected when the weld line WL4 is near the irradiation range 30 of the laser sensor 27.

[0077] In this embodiment, the drive shaft of flange 16 is used as the rotation axis of the rotary laser sensor 27, but it is not limited to this embodiment. The laser sensor can rotate around any rotation axis. For example, the rotation axis can be the Z-axis of the tool coordinate system 72. Also, the rotation axis can be any axis passing through the tool tip point. Furthermore, a rotation axis set at a position away from the welding torch can also be used. Moreover, referring to FIG6, this peripheral search control can also be implemented when the welding torch 2 has been moved from the starting teaching point TPS to the moving point MPS, and the next teaching point TP1 cannot be detected from the output of the laser sensor 27.

[0078] Furthermore, referring to Figure 12, after the robot 1 moves to the movement point corresponding to the search point, when the welding position cannot be detected by the laser sensor 27, the search point calculation unit 53 can implement control to shorten the distance from the teaching point TP2 to the search point SP3 as indicated by arrow 97. That is, control can be implemented to shorten the movement distance of the welding torch 2 when moving from the movement point corresponding to the search point SP2 to the movement point corresponding to the search point SP3.

[0079] The search point calculation unit 53 sets the distance from the teaching point TP2 to the search point to be shorter than the current distance from the teaching point TP2 to the search point SP3. That is, it calculates the position of the search point after correcting the movement distance indicated by arrow 97 to be shorter. The method for setting the distance from the teaching point TP2 to the corrected search point can be predetermined. Then, the command unit 54 drives the robot 1 to the movement point corresponding to the corrected search point. Afterwards, the work position detection unit 52 performs welding position detection based on the output of the laser sensor 27.

[0080] Thus, when the work position cannot be detected based on the output of laser sensor 27, a movement distance variation control can be implemented to shorten the distance between the teach point and the search point. By implementing this control, the distance from the generated teach point to the search point is shortened. Even if the weld line WL4 is bent or twisted, the distance from the search point to the weld line can still be shortened. As a result, the likelihood of detecting the weld position by laser sensor 27 is increased. Furthermore, the movement distance variation control can be repeated. For example, if the work position still cannot be detected even after implementing movement distance variation control to shorten the distance between the teach point and the search point, further movement distance variation control can be implemented.

[0081] The above-mentioned perimeter search control and movement distance change control can be combined for implementation. For example, the processing unit 51 can implement movement distance change control when the welding position cannot be detected even after implementing perimeter search control. Alternatively, the processing unit 51 can implement perimeter search control when the welding position cannot be detected even after implementing movement distance change control.

[0082] Figure 14 illustrates the following control method: For weld lines containing both straight and curved sections, the position of the teaching point is set. Weld line WL5 includes both straight and curved sections. In Figure 14, the laser beam irradiation line 32 at each teaching point TP1~TP6 is shown on weld line WL5. As mentioned earlier, when the weld line is curved, sometimes the weld position on the weld line cannot be detected after the robot 1 moves to the search point.

[0083] Therefore, the search point calculation unit 53 can set the distance from the teaching point to the search point as a first distance when the weld line WL5 along the path from the teaching point to the search point is straight. In each interval IL1, since the weld line WL5 extends in a straight line, the distance from the teaching point to the search point is set as the first distance. Alternatively, the search point calculation unit 53 can set the distance from the teaching point to the search point as a second distance, which is less than the first distance, when the weld line WL5 along the path from the teaching point to the search point is curved. In each interval IL2, since the weld line WL5 extends in a curved shape, the distance from the teaching point to the search point is set as the second distance. The intervals between teaching points in interval IL2 are narrower than the intervals between teaching points in interval IL1.

[0084] The intervals for detecting search points using the first distance and the intervals for detecting search points using the second distance can be predetermined. For example, the range of the interval IL1 for detecting search points using the first distance and the range of the interval IL2 for detecting search points using the second distance can be predetermined based on the location of the search point.

[0085] Alternatively, the operator can change the distance between the teaching point and the search point by operating the teaching control panel 3. In this embodiment, the input section 3a of the teaching control panel 3 is configured to adjust the distance between the teaching point and the search point. For example, a distance change button is provided on the input section 3a. When the distance change button is not pressed, the search point calculation unit 53 can set the distance between the teaching point and the search point to the first distance. Furthermore, when the distance change button is pressed, the search point calculation unit 53 can set the distance between the teaching point and the search point to the second distance.

[0086] While the operator moves the welding torch 2 and sets the position of the teaching point, the position of the welding torch 2 is confirmed. The operator can change the distance between the teaching point and the search point by operating the distance change button. During the setting control period, the operator can manually adjust the distance between the teaching point and the search point according to the position of the welding torch 2. Furthermore, it is also possible to set a range of three or more movement distances. Additionally, the movement distance can be changed using three or more different movement distances.

[0087] Figure 15 shows a perspective view of the workpiece and welding torch when the robot device is actually driven according to the teach points generated by the set control. Referring to Figures 2 and 15, the robot control device 4 includes a regeneration control unit 60, which performs regeneration control of the robot 1 according to the teach points generated by the set control. The regeneration control unit 60 is equivalent to a processor that drives the robot according to the teach point generation program 47. The processor reads the teach point generation program 47 and performs control determined by the teach point generation program 47, thereby functioning as the regeneration control unit 60.

[0088] The regeneration control unit 60 obtains the position of the teaching point set by the teaching point setting unit 55. Furthermore, the regeneration control unit 60 obtains the posture of robot 1 at the teaching point set by the teaching point setting unit 55. Moreover, the posture of robot 1 during regeneration control can also be the posture of robot 1 during setting control. The regeneration control unit 60 sends a command to the motion control unit 43 to move the drive robot 1 of the welding torch 2 without driving the welding control device 5. The operator can confirm the changes in the position and posture of robot 1 during actual welding.

[0089] The leading edge (tool tip point) of the metal wire 19 moves along the weld line WL1 as shown by arrow 99. At this time, the work position detection unit 52 can also detect the weld position again based on the output of the laser sensor 27. The teaching point setting unit 55 can also correct the position of the already generated teaching point based on the weld position detected by the work position detection unit 52.

[0090] In this embodiment, the regeneration control unit 60 reduces the moving speed of the welding torch 2 near the end teaching point TPE when performing regeneration control. The regeneration control unit 60 controls the reduction of the drive speed of the robot 1. The position range of the robot 1 for reducing the moving speed of the welding torch 2 can be predetermined. Furthermore, the regeneration control unit 60 can also gradually reduce the drive speed of the robot 1 as it approaches the end teaching point TPE.

[0091] The operator operates the teaching control panel 3 near the end teaching point (TPE) to stop regeneration control. Next, the operator can manually drive the robot 1 by operating the input section 3a of the teaching control panel 3, thereby setting the position of the end teaching point (TPE). That is, the operator can correct the position of the end teaching point (TPE). The teaching point setting unit 55 corrects the position of the end teaching point (TPE) in response to the operator's operation of the input section 3a. The memory unit 42 can then remember the corrected teaching point.

[0092] For example, when the work position detection unit 52 cannot detect the welding position, the setting control may sometimes be terminated. The end teaching point may sometimes be set deviating from the desired end teaching point. In this case, the operator can manually correct the end teaching point. Alternatively, since the end teaching point for ending the welding is a crucial teaching point that significantly affects the quality of the workpiece, the operator can set the correct end teaching point position.

[0093] In this embodiment, the regeneration control unit 60 controls the robot 1 to reduce its driving speed within a predetermined range near the end of the teaching point. By performing this control, the welding torch 2 moves at a lower speed, allowing the operator to easily stop the robot 1 at the desired position.

[0094] Furthermore, when actually performing the welding operation, before starting the actual operation, the robot device 8 positions the tip of the welding torch 2 at a moving point near the start teaching point TPS, and then controls the welding torch 2 to approach the start teaching point TPS. This moving point near the start teaching point TPS is called the approach point. That is, the robot control device 4 positions the robot 1 at the approach point and then at the start teaching point TPS.

[0095] Referring to Figure 6, the teaching point setting unit 55 can set the position and posture of the robot 1 after the welding torch 2 has retreated from the starting teaching point TPS in a predetermined direction and at a predetermined distance as the approach point. For example, the teaching point setting unit 55 can set the point after the welding torch 2 has retreated from the starting teaching point TPS in the direction of the Z-axis of the tool coordinate system as the approach point. By controlling this, even if the operator does not teach the approach point, the processing unit 51 can still automatically generate a teaching point corresponding to the approach point. Furthermore, the processing unit 51 can generate the approach point during the period of controlling the generation of multiple teaching points. This reduces the number of teaching points set by the operator.

[0096] Furthermore, referring to Figure 15, when the actual welding operation ends, the robot device 8, after positioning the tip of the welding torch 2 at a point away from the workpieces 81 and 82, changes the position and posture of the robot 1 in order to perform the next operation. That is, the robot control device 4, after positioning the robot 1 at a movement point that is retracted from the end teaching point TPE, changes the position and posture of the robot 1 in order to perform the next operation. This movement point is called the retraction point. In this embodiment, the teaching point setting unit 55 can automatically set the retraction point when the end teaching point TPE is set.

[0097] The teaching point setting unit 55 can set the position of the robot 1 after the welding torch 2 has retracted from the workpieces 81 and 82 in a predetermined direction and at a predetermined distance, as shown by arrow 100, as the retraction point. For example, the teaching point setting unit 55 can set the point where the welding torch 2 moves away from the end teaching point TPE in the direction of the Z-axis of the tool coordinate system as the retraction point. By controlling this, even if the operator does not teach the retraction point, the processing unit 51 can still automatically generate a teaching point corresponding to the retraction point. This reduces the number of teaching points set by the operator.

[0098] In this embodiment, fillet welding is used as an example for illustration, but it is not limited to this embodiment. The aforementioned fillet welding involves welding the portion where two components contact to form an angle. The generation of teaching points in this embodiment can also be controlled for butt welding, where the end faces of two components are fused towards each other. Furthermore, the surface of the workpiece in this embodiment is planar, but it is not limited to this form. The control of this embodiment can also be applied when working on workpieces containing curved surfaces. For example, when working on curved surfaces, the control of this embodiment can be implemented by shortening the distance from the teaching point to the search point.

[0099] Furthermore, this embodiment uses a robotic device for arc welding as an example for illustration, but is not limited to this embodiment. The control of this embodiment applies to any robotic device capable of operating along a work line. For example, the control of this embodiment applies to robotic devices capable of laser welding or robotic devices equipped with adhesive coating tools.

[0100] The above embodiments can be combined appropriately. In the above figures, the same or equal parts are marked with the same symbol. Furthermore, the above embodiments are illustrative and do not limit the invention. Also, the embodiments include modifications to the embodiments shown in the claims.

[0101] 1: Robot 2: Welding torch 3: Instruction on the operation panel 3a: Input Section 4: Robot control device 8: Robotic Device 10: Control device 11: Upper arm 12: Lower arm 13: Rotary base 14: Base section 15: wrist 16: Flange 18: Metal Wire Supply Device 19: Metal wire 22: Robot drive motor 23: Position Detector 27: Laser Sensor 27a: Supporting components 30: Irradiation range 31: Central Line 32: Irradiation rays 40: Action Programming 41: Operating Procedures 42: Memory Department 43: Motion Control Department 45: Robot Drive Department 47: Teaching Point Generation Program 51: Processing Department 52: Work Position Detection Department 53: Search Point Calculation Department 54: Command Section 55: Teaching Point Setting Department 60: Regeneration Control Department 71: World Coordinate System 72: Tool Coordinate System 80: Fusion joint 81, 82: Workpiece 89: Set up the platform 91, 92, 94~100: Arrows 101: Rotation axis CPU: Central Processing Unit IL1, IL2: Interval MPS, MP2: Movement points RAM: Random Access Memory ROM: Read-only memory SP2, SP3: Search Points Time of Flight (TOF) TP1~TP6: Teaching points TPE: End of Teaching Point TPS: Start Teaching Point W: Width WL1, WL4: Fusion lines WP1: Fiber splice path X, Y, Z: Axes

Claims

1. A teaching point generation apparatus for generating teaching points for a robotic device equipped with a robot and a work tool, the teaching point generation apparatus comprising: a sensor supported on the robot and used to detect the work position on a work line where the robotic device performs work on a workpiece; a search point calculation unit that calculates the position of a search point for determining the next teaching point along the work line based on at least one teaching point; an instruction unit that drives the robot to move its position to a movement point corresponding to the search point; and a teaching point setting unit that, after the robot's position has moved to the movement point, sets the position of the teaching point based on the work position detected by the sensor; the teaching point generation apparatus sets the positions of a plurality of teaching points along the work line by repeatedly performing setting control, the setting control comprising: calculating the position of the search point by the search point calculation unit, driving the robot by the instruction unit, and setting the position of the teaching point by the teaching point setting unit. After the robot moves to the moving point, when the aforementioned sensor cannot detect the work position, the aforementioned command unit drives the aforementioned robot to rotate the aforementioned sensor around a predetermined rotation axis, and the aforementioned sensor performs work position detection at the rotated position.

2. A teaching point generation apparatus for generating teaching points for a robotic device equipped with a robot and a work tool, the teaching point generation apparatus comprising: a sensor supported on the robot and used to detect the work position on a work line where the robotic device performs work on a workpiece; a search point calculation unit that calculates the position of a search point for determining the next teaching point along the work line based on at least one teaching point; an instruction unit that drives the robot to move its position to a movement point corresponding to the search point; and a teaching point setting unit that, after the robot's position has moved to the movement point, sets the position of the teaching point based on the work position detected by the sensor; the teaching point generation apparatus sets the positions of a plurality of teaching points along the work line by repeatedly performing setting control, the setting control including: calculating the position of the search point by the search point calculation unit, driving the robot by the instruction unit, and setting the position of the teaching point by the teaching point setting unit. After the robot moves to the moving point, if the sensor cannot detect the work position, the search point calculation unit sets the distance from the teaching point to the search point to be shorter than the current distance from the teaching point to the search point, and calculates the corrected search point position. The command unit drives the robot to move to the moving point corresponding to the corrected search point position, and the sensor performs work position detection.

3. The teaching point generation device as described in claim 1 or 2, which includes an operation panel for manually operating the actions of the aforementioned robot device, the operation panel having an input section for adjusting the distance between the teaching point and the search point.

4. The teaching point generation device as claimed in claim 1 or 2, wherein the aforementioned search point calculation unit sets the distance from the teaching point to the search point as a first distance when the working line along the path from the teaching point to the search point is straight, and sets the distance from the teaching point to the search point as a second distance shorter than the first distance when the working line along the path from the teaching point to the search point is curved.

5. The teaching point generation device as described in request item 1 or 2, wherein a teaching point indicating the start of the operation is predetermined, namely the start teaching point, is implemented by the aforementioned instruction unit to control the aforementioned work tool to retract from the workpiece from the start teaching point in a predetermined direction and at a predetermined distance, while maintaining the aforementioned work tool having retracted from the workpiece, and implementing the aforementioned setting control.

6. The teaching point generation device as described in claim 1 or 2, wherein a teaching point indicating the start of the operation, i.e., the start teaching point, is predetermined, and the aforementioned teaching point setting unit performs the following control: setting the position after the aforementioned work tool retracts from the workpiece from the start teaching point in a predetermined direction and at a predetermined distance as the approach point before the actual operation begins; and setting the position after the aforementioned work tool retracts from the workpiece from the teaching point indicating the end of the operation, i.e., the end teaching point, in a predetermined direction and at a predetermined distance as the retreat point after the actual operation ends.

7. The teaching point generation device according to claim 1 or 2, comprising: an operation panel for manually operating the robot device; and a regeneration control unit for implementing regeneration control of the robot based on the teaching point generated by the aforementioned setting control; the operation panel having an input unit configured to manually change the position and posture of the robot; the regeneration control unit, when implementing regeneration control, within a predetermined range near the teaching point indicating the end of the work (i.e., the end teaching point), implementing control to reduce the driving speed of the robot, thereby reducing the moving speed of the work tool, and stopping the regeneration control in response to the operator's operation of the operation panel; and the teaching point setting unit correcting the position of the end teaching point in response to the operator's operation of the input unit.

8. A method for generating teaching points, comprising: a search point calculation step, which calculates the position of a search point for determining the next teaching point along a work line based on at least one teaching point; a driving step, which drives the robot to move its position to a movement point corresponding to the search point; a position detection step, which, after the robot moves to the movement point, detects the work position on the work line where the robot performs work on a workpiece using a sensor supported on the robot; and a teaching point setting step, which sets the position of the teaching point based on the work position detected by the sensor; wherein the teaching point generation method sets the positions of a plurality of teaching points along the work line by repeatedly performing a setting step including the search point calculation step, the driving step, the position detection step, and the teaching point setting step; and when the robot moves to the movement point corresponding to the search point, and the work position cannot be detected by the sensor, the teaching point generation method performs the following steps: The robot is driven to rotate the aforementioned sensor around a predetermined rotation axis; and the sensor detects the work position at the position after rotation.

9. A method for generating teaching points, comprising: a search point calculation step, which calculates the position of a search point for determining the next teaching point along a work line based on at least one teaching point; a driving step, which drives the robot to move its position to a movement point corresponding to the search point; a position detection step, which, after the robot moves to the movement point, detects the work position on the work line where the robot performs work on a workpiece using a sensor supported on the robot; and a teaching point setting step, which sets the position of the teaching point based on the work position detected by the sensor; wherein the teaching point generation method sets the positions of a plurality of teaching points along the work line by repeatedly performing a setting step including the search point calculation step, the driving step, the position detection step, and the teaching point setting step; and when the robot moves to the movement point corresponding to the search point, and the work position cannot be detected by the sensor, the teaching point generation method performs the following steps: The distance from the teaching point to the search point is set to be shorter than the current distance from the teaching point to the search point, and the position of the corrected search point is calculated; the aforementioned robot is driven so that the position of the aforementioned robot moves to the movement point corresponding to the position of the corrected search point; and the operation position is detected by the aforementioned sensor.

10. A robot control device that generates teach points for a robot device equipped with a robot and a working tool, the robot control device comprising: at least one processor; the at least one processor performing the following steps: a search point calculation step, which calculates the position of a search point for determining the next teach point along a work line based on at least one teach point; a drive step, which drives the robot to move the position of the robot to a movement point corresponding to the search point; a position detection step, which, after the position of the robot has moved to the movement point, detects the working position on the work line where the robot device performs work on a workpiece using a sensor supported on the robot; and a teach point setting step, which sets the position of the teach point based on the working position detected by the sensor; the at least one processor sets the positions of a plurality of teach points along the work line by repeatedly performing a setting step including the search point calculation step, the drive step, the position detection step, and the teach point setting step; after the position of the robot has moved to the movement point corresponding to the search point, when the working position cannot be detected by the sensor, the at least one processor performs the following steps: The robot is driven to rotate the aforementioned sensor around a predetermined rotation axis; and the sensor detects the work position at the position after rotation.

11. A robot control device that generates teach points for a robot device equipped with a robot and a working tool, the robot control device comprising: at least one processor; the at least one processor performing the following steps: a search point calculation step, which calculates the position of a search point for determining the next teach point along a work line based on at least one teach point; a drive step, which drives the robot to move the position of the robot to a movement point corresponding to the search point; a position detection step, which, after the position of the robot has moved to the movement point, detects the working position on the work line where the robot device performs work on a workpiece using a sensor supported on the robot; and a teach point setting step, which sets the position of the teach point based on the working position detected by the sensor; the at least one processor sets the positions of a plurality of teach points along the work line by repeatedly performing a setting step including the search point calculation step, the drive step, the position detection step, and the teach point setting step; after the position of the robot has moved to the movement point corresponding to the search point, when the working position cannot be detected by the sensor, the at least one processor performs the following steps: The distance from the teaching point to the search point is set to be shorter than the current distance from the teaching point to the search point, and the position of the corrected search point is calculated; the aforementioned robot is driven so that the position of the aforementioned robot moves to the movement point corresponding to the position of the corrected search point; and the operation position is detected by the aforementioned sensor.

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