Programming method for a robot, programming apparatus for a robot, and robot control system
AssigneeDAIHEN Corporation
InventorsKouzou Yanagawa, Yasuhiro Koujina
Life of this patent
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Abstract
An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region (S24). A CPU moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.
Claims10
A programming method for a robot, the robot including a manipulator configured to machine a workpiece, the manipulator being equipped with a tool and a position detection sensor for detecting a position of a characteristic site of the workpiece, the method comprising:
- a first step for teaching tasks to the robot with the tool being moved, wherein a sensing instruction is input each time the tool reaches a sensing point at which the position detection sensor is to be activated to detect the characteristic site of the workpiece, and a positioning instruction is input each time the tool reaches a taught position other than the sensing point in order to advance the tool to a next taught position without activating the position detection sensor;
- a second step for storing each sensing instruction, each positioning instruction, taught position for each sensing point, and each taught position other than the sensing point, in the order in which the positions are taught, in a first task program while associating each sensing instruction and the corresponding taught position for the sensing point with each other and associating each positioning instruction and the corresponding taught position other than the sensing point with each other;
- and
- a third step for moving the tool to the taught position of the sensing point or the taught position other than the sensing point in the order the positions are taught in the first task program, acquiring a work location for the workpiece based on a result of the detection, and then storing the acquired work location in a second task program or in an external variable that can be referenced from the second task program,
- wherein by executing the second task program, the tool is moved to perform the machining.
A programming apparatus for a robot, the robot including a manipulator configured to machine a workpiece, the manipulator being equipped with a tool and a position detection sensor for detecting a position of a characteristic site of the workpiece, the apparatus comprising:
- teaching means for teaching tasks to the robot with the tool being moved, wherein a sensing instruction is input each time the tool reaches a sensing point at which the position detection sensor is to be activated to detect the characteristic site of the workpiece, and a positioning instruction is input each time the tool reaches a taught position other than the sensing point in order to advance the tool to a next taught position without activating the position detection sensor;
- a first storage for storing each sensing instruction, each positioning instruction, taught position for each sensing point, and each taught position other than the sensing point, in the order in which the positions are taught, in a first task program while associating each sensing instruction and the corresponding taught position for the sensing point with each other and associating each positioning instruction and the corresponding taught position other than the sensing point with each other;
- a controller for moving the tool to the taught position of the sensing point based on the sensing instruction or the taught position other than the sensing point based on the positioning instruction, in the order the positions are taught, stored in the first task program;
- acquisition means for, when the tool is moved to the taught position of the sensing point, performing detection tasks by the position detection sensor based on the sensing instruction, and acquiring a work location for the workpiece based on a result of the detection;
- and
- a second storage for storing the acquired work location in a second task program or an external variable that can be referenced from the second task program,
- wherein by executing the second task program, the tool is moved to perform the machining.
Dependencies are inferred from the claim text.