Back to results
US 11,396,097 B2Granted
Teaching apparatus, robot system, and teaching method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKoichi Kuwahara, Yoshifumi Onoyama, Kazuma Tabuchi, Masaru Adachi, Wataru Watanabe
Life of this patent
Estimating the term…
Abstract
A teaching apparatus includes circuitry. The circuitry is configured to obtain result information corresponding to a position of a worked region on a workpiece. The circuitry is configured to generate first teaching information based on the result information. The first teaching information specifies a motion of an examination robot configured to examine the workpiece that has undergone work.
Claims15
A teaching apparatus comprising:
- circuitry configured to:
- obtain result information regarding a worked region on a workpiece;
- the result information indicating a work path used to perform work by a first work robot on the worked region of the workpiece;
- generate first teaching information based on the result information, the first teaching information specifying a motion of a first examination robot configured to examine the workpiece that has undergone work performed on it;
- wherein the result information comprises work path information and operating information where the work path information indicates a motion path of the first work robot and the operating information indicates where a work tool of the first work robot was in an operating state and in a non-operating state along the work path;
- calculate a plurality of examination-use paths based on the work path information and the operating information of the result information, for the first examination robot;
- and
- determine a transit order in which the plurality of examination-use paths are taken for the first examination robot, and
- wherein the first teaching information generated by the circuitry indicates that the examination-use paths are connected to each other according to the transit order for the first examination robot;
- wherein the determined transit order being an order through which all of the examination-use paths are taken in a shortest possible period of time;
- and
- wherein the work path performed by the first work robot and the determined transit order performed by the first examination robot is different.
9 more elements
A robot system comprising:
- a first examination robot configured to examine a workpiece that has undergone work;
- a first work robot configured to perform work on the workpiece;
- and
- circuitry configured to:
- obtain result information regarding a first position of a worked region on a workpiece;
- the result information indicating a work path used to perform work by the first work robot on the workpiece;
- wherein the result information comprises work path information and operating information where the work path information indicates a motion path of the first work robot and the operating information indicates where a work tool of the first work robot was in an operating state and in a non-operating state along the work path;
- and
- generate first teaching information based on the result information, the first teaching information specifying a motion of the first examination robot configured to examine the workpiece that has undergone work performed on it,
- a robot controller configured to control a motion of the first examination robot based on the first teaching information;
- calculate a plurality of examination-use paths based on the work path information and the operating information of the result information, for the first examination robot;
- and
- determine a transit order in which the plurality of examination-use paths are taken for the first examination robot, and
- wherein the first teaching information generated by the circuitry indicates that the examination-use paths are connected to each other according to the transit order for the first examination robot,
- wherein the determined transit order being an order through which all of the examination-use paths are taken and an operation load of the first examination robot is minimized;
- wherein the work path performed by the first work robot and the determined transit order performed by the first examination robot is different.
13 more elements
A teaching method comprising:
- obtaining result information, using circuitry, regarding a position of a worked region on a workpiece;
- the result information indicating a work path used to perform work by a first work robot on the workpiece
- generating, using the circuitry, first teaching information specifying a motion of a first examination robot configured to examine the workpiece that has undergone work, wherein the first teaching information is generated based on the result information obtained in the obtaining step;
- wherein the result information comprises work path information and operating information where the work path information indicates a motion path of the first work robot and the operating information indicates where a work tool of the first work robot was in an operating state and in a non-operating state along the work path;
- calculating a plurality of examination-use paths based on the work path information and the operating information of the result information, for the first examination robot;
- determining a transit order in which the plurality of examination-use paths are taken for the first examination robot, and
- wherein the first teaching information indicates that the examination-use paths are connected to each other according to the transit order for the first examination robot,
- wherein the determined transit order being an order through which all of the examination-use paths are taken and a torque load on a driving source of the first examination robot is minimized;
- wherein the work path performed by the first work robot and the determined transit order performed by the first examination robot is different.
6 more elements
Dependencies are inferred from the claim text.