Teaching control method for robot and robot system

Patent metadata

Field	Value
Publication number	US-11833679-B2
Application number	US-202117381224-A
Country	US
Kind code	B2
Filing date	Jul 21, 2021
Priority date	Jul 22, 2020
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.

First claim

What is claimed is:

1. A teaching control method for creating an operation program for a robot that executes work for a work target object, the teaching control method comprising:
(a) acquiring a plurality of teaching points from CAD data of the work target object;
(b) displaying the plurality of teaching points on a display section;
(c) acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups;
(d) receiving an operation parameter used to set an operation value for each teaching point group among the one or more teaching point groups; and
(e) setting the operation value for each teaching point group using the operation parameter, wherein
(c) the acquiring of the result of the classification processing includes:
(i) acquiring attribute information of the work target object acquired from the CAD data, the attribute information being attribute information at the plurality of teaching points, wherein the attribute information includes at least one of a curvature of a surface of the work target object, surface roughness, and a material of the surface; and
(ii) executing the classification processing using the attribute information.

2. The teaching control method according to claim 1 , wherein the operation value is a force used in force control.

3. The teaching control method according to claim 1 , wherein
the attribute information includes the curvature of the surface, and
(e) the setting of the operation value includes changing the operation value at each teaching point according to the curvature of the surface at each teaching point among the teaching point groups.

4. The teaching control method according to claim 1 , wherein (c) the acquiring of the result of the classification processing includes, after (i) the acquiring of the attribute information, classifying and visually distinguishably displaying the plurality of teaching points according to the attribute information.

5. A robot system comprising:
a robot configured to execute work for a work target object;
a control section configured to control the robot; and
a display section coupled to the control section, wherein
the control section executes:
(a) processing for acquiring a plurality of teaching points from CAD data of the work target object;
(b) processing for displaying the plurality of teaching points on the display section;
(c) processing for executing processing for acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups;
(d) processing for acquiring an operation parameter used to set an operation value for each teaching point group among the one or more teaching point groups; and
(e) processing for setting the operation value for each teaching point group using the operation parameter, and
the processing (c) includes:
(i) processing for acquiring attribute information of the work target object acquired from the CAD data, the attribute information being attribute information at the plurality of teaching points, wherein the attribute information includes at least one of a curvature of a surface of the work target object, surface roughness, and a material of the surface; and
(ii) processing for executing the classification processing using the attribute information.

Assignees

• Seiko Epson Corp

Inventors

• Okuyama Masayuki

Classifications

• B25J9/0081 Primary

  with leader teach-in means · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1671

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title

• B25J11/0065 Primary

  Polishing or grinding · CPC title