Teaching position correcting apparatus
AssigneeFanuc Corporation
InventorsAtsushi Watanabe, Takayuki Ito, Tetsuya Kosaka, Katsutoshi Takizawa
Life of this patent
Estimating the term…
Abstract
An work tool mounted on an arm tip end of a robot is allowed to move toward a teaching point of a robot operation program, and to stop the work tool before it reaches the teaching point. The robot is moved by jog feeding from the stopped position to a target position. In this manner, the teaching point of the robot operation program is corrected.
Claims17
A teaching position correcting apparatus for correcting a teaching point position of a robot operation program, comprising
- work tool moving/stopping means for allowing an work tool mounted on an arm tip end of said robot to move toward a teaching point of said robot operation program and to stop said work tool before it reaches the teaching point,
- jog feed means for moving said robot by jog feeding from a position where said work tool is stopped by said work tool moving/stopping means,
- contact-judging means for judging whether said work tool and an operation target come into contact with each other, and
- teaching position correction instructing means for commanding to correct the teaching position.
A teaching position correcting apparatus for correcting a teaching point position of a robot operation program, comprising
- work tool moving/stopping means for allowing an work tool mounted on an arm tip end of said robot to move toward a teaching point of said robot operation program and to stop said work tool before it reaches the teaching point,
- jog feed means for moving said robot by jog feeding from a position where said work tool is stopped by said work tool moving/stopping means,
- positional relation presenting means for presenting, to an operator, a positional relation between said work tool and an operation target, and
- teaching position correction instructing means for commanding to correct a teaching position.
A teaching position correcting apparatus for correcting a teaching point position of a robot operation program, comprising
- work tool moving/stopping means for allowing an work tool mounted on an arm tip end of said robot to move toward a teaching point of said robot operation program and to stop said work tool before it reaches the teaching point,
- jog feed means for moving said robot by jog feeding from a position where said work tool is stopped by said work tool moving/stopping means,
- teaching position correction instructing means for commanding to correct a teaching position, and
- teaching point position correcting means for automatically correcting a next and subsequent teaching point positions based on a position correcting amount of one or more teaching points whose teaching position was corrected.
A teaching position correcting apparatus for correcting a teaching point position of a robot operation program, comprising
- work tool moving/stopping means for allowing an work tool mounted on an arm tip end of said robot to move toward a teaching point of said robot operation program and to stop said work tool when the distance between said work tool and said teaching point becomes shorter than a predetermined distance,
- jog feed means for moving said robot by jog feeding from a position where said work tool is stopped by said work tool moving/stopping means, and
- teaching position correction instructing means for commanding to correct a teaching position.
Dependencies are inferred from the claim text.