Teaching system and teaching method

Patent metadata

Field	Value
Publication number	US-9311608-B2
Application number	US-201414484270-A
Country	US
Kind code	B2
Filing date	Sep 12, 2014
Priority date	Oct 17, 2013
Publication date	Apr 12, 2016
Grant date	Apr 12, 2016

Abstract

A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.

First claim

What is claimed is:

1. A teaching system comprising:
an image generator configured to generate a virtual image including a robot and a workpiece having a processed surface to be processed by the robot;
a projector configured to generate a projection plane substantially orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and configured to project the processed surface onto the projection plane, the image generator being configured to display the projection plane on a display such that the normal direction is substantially orthogonal to a planar direction of the display and configured to generate the virtual image on which the projection plane is overlapped with the robot and workpiece to be visible;
a receiver configured to receive an input by a user using the projection plane;
a work line generator configured to generate a work line serving as a group of target points for the robot based on the input;
a calculator configured to calculate a teaching value including a position and a posture of the robot at each point of the target points; and
a job generator configured to generate a job program to operate the robot based on the teaching value.

2. The teaching system according to claim 1 , wherein the image generator generates the virtual image including at least one of the projection plane and the work line.

3. The teaching system according to claim 1 , wherein the work line generator selects whether to generate the work line on the projection plane or the processed surface based on the input.

4. The teaching system according to claim 2 , wherein the work line generator selects whether to generate the work line on the projection plane or the processed surface based on the input.

5. The teaching system according to claim 1 , wherein the projector generates a substantial rectangle as the projection plane that covers at least the whole of the processed surface when the processed surface is viewed in the normal direction.

6. The teaching system according to claim 2 , wherein the projector generates a substantial rectangle as the projection plane that covers at least the whole of the processed surface when the processed surface is viewed in the normal direction.

7. The teaching system according to claim 3 , wherein the projector generates a substantial rectangle as the projection plane that covers at least the whole of the processed surface when the processed surface is viewed in the normal direction.

8. The teaching system according to claim 4 , wherein the projector generates a substantial rectangle as the projection plane that covers at least the whole of the processed surface when the processed surface is viewed in the normal direction.

9. The teaching system according to claim 1 , wherein the projector specifies a distance from the processed surface to the projection plane based on the input.

10. The teaching system according to claim 1 , wherein the projector rotates the projection plane about the normal direction serving as a rotational axis based on the input.

11. The teaching system according to claim 1 , wherein the projector generates, when a plurality of desired points are selected, a plurality of projection planes for the respective desired points.

12. The teaching system according to claim 1 , wherein the robot is used for coating and the processed surface is a coating surface.

13. A teaching method comprising:
generating a virtual image including a robot and a workpiece having a processed surface to be processed by the robot;
generating a projection plane substantially orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image;
projecting the processed surface onto the projection plane;
displaying the projection plane on a display such that the normal direction is substantially orthogonal to a planar direction of the display;
generating the virtual image on which the projection plane is overlapped with the robot and workpiece to be visible;
receiving an input by a user using the projection plane;
generating a work line serving as a group of target points for the robot based on the input;
calculating a teaching value including a position and a posture of the robot at each point of the target points; and
generating a job program for to operate the robot based on the calculated teaching value.

14. A teaching system comprising:
an image generator configured to generate a virtual image including a robot and a workpiece having a processed surface to be processed by the robot;
a projector configured to generate a projection plane substantially orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and configured to project the processed surface from which a portion specified by a user has been removed onto the projection plane;
a receiver configured to receive an input by the user using the projection plane;
a work line generator configured to generate a work line serving as a group of target points for the robot based on the input;
a calculator configured to calculate a teaching value including a position and a posture of the robot at each point of the target points; and
a job generator configured to generate a job program to operate the robot based on the teaching value.

Assignees

• Yaskawa Denki Seisakusho Kk

Inventors

• Kuwahara Koichi

Classifications

• G05B2219/36017

  Graphic assisted robot programming, display projection of surface · CPC title

• G05B2219/35115

  Project 3-D surface on 2-D plane, define grid in plane · CPC title

• G05B2219/45013

  Spraying, coating, painting · CPC title

• B25J9/1671 Primary

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

• Y10S901/28

  Joint · CPC title