Robot teaching device for teaching robot offline

A robot teaching device for locating a workpiece and a robot having a tool in a virtual space, and for setting a target angle, an advance angle and a rotation angle about a longitudinal axis of the tool, the angles being used to determine a posture of the tool when the robot processes the workpiece, the robot teaching device comprising:

• a locating part which locates three-dimensional models of the robot and the workpiece in a virtual space;
• a designating part which designates a processing portion of the three-dimensional model of the workpiece;
• a storing part which stores a combination of shapes of a plurality of predetermined processing portions and the target angle and the advance angle of the tool associated with each of the processing portions;
• a selecting part which selects the shape of the processing portion corresponding to the designated processing portion, among the plurality of shapes of the processing portions stored in the storing part;
• a first setting part which sets the target angle and the advance angle of the tool associated with the selected shape of the processing portion, as a target angle and an advance angle of the tool with respect to the designated processing portion;
• and
• a second setting part which rotates the tool about the longitudinal axis of the tool while the target angle and the advance angle of the tool relative to the processing portion are maintained, so as to calculate and set the rotation angle of the tool about the longitudinal axis of the tool, wherein a height of a face plate of the robot from a horizon plane of the virtual space is maximum at the rotation angle.