Teaching system, robot system, and teaching method

Patent metadata

Field	Value
Publication number	US-9625899-B2
Application number	US-201414541142-A
Country	US
Kind code	B2
Filing date	Nov 14, 2014
Priority date	Apr 10, 2014
Publication date	Apr 18, 2017
Grant date	Apr 18, 2017

Abstract

A teaching system according to an embodiment includes an image generating unit, a start point specifying unit, a via point specifying unit, and a teaching data generating unit. The image generating unit generates a virtual image including a closed processing line set on a workpiece to be processed by a robot. The start point specifying unit specifies a start point at a position outside the processing line on the virtual image. The via point specifying unit specifies a via point on the processing line. The teaching data generating unit generates teaching data relative to the robot for a path that leaves the start point to follow the processing line by way of the via point and returns to the via point.

First claim

What is claimed is:

1. A teaching system comprising:
an image generating unit that generates a virtual image including a closed processing line set on a workpiece to be processed by a robot;
a start point specifying unit that specifies a start point at a position other than positions on the closed processing line on the virtual image;
a via point specifying unit that specifies a via point on the closed processing line; and
a teaching data generating unit that generates teaching data relative to the robot for a path that leaves the start point to follow the closed processing line by way of the via point and returns to the via point, wherein the teaching data is performed by the robot; wherein
the closed processing line is divided into a plurality of divided lines,
the via point specifying unit determines a direction of sequential selection of two adjacent divided lines as a processing direction of the robot on the closed processing line, and specifies the via point on a divided line of the plurality of divided lines, and
the start point specifying unit specifies the start point at the position on a side of a reference line extending orthogonally to the divided line and through the via point, the side being opposite to the processing direction with respect to the via point specified on the divided line.

2. The teaching system according to claim 1 , wherein
the robot includes a laser emission device disposed at a distal end of an articulated arm, and
the teaching data generating unit generates the teaching data for the robot to perform processing on the workpiece using the laser emission device.

3. The teaching system according to claim 2 , wherein, when drilling in the workpiece is specified, the start point specifying unit presents an inside area surrounded by the closed processing line as a candidate area for the start point and, when trimming in the workpiece is specified, the start point specifying unit presents an area outside the inside area as a candidate area for the start point.

4. The teaching system according to claim 3 , wherein, when the start point is specified on the workpiece, the start point specifying unit sets a piercing operation for processing to be performed at the start point, the piercing operation drilling a hole in the workpiece with a fixed laser emission position.

5. The teaching system according to claim 2 , wherein, when the start point is specified on the workpiece, the start point specifying unit sets a piercing operation for processing to be performed at the start point, the piercing operation drilling a hole in the workpiece with a fixed laser emission position.

6. The teaching system according to claim 1 , wherein, when drilling in the workpiece is specified, the start point specifying unit presents an inside area surrounded by the closed processing line as a candidate area for the start point and, when trimming in the workpiece is specified, the start point specifying unit presents an area outside the inside area as a candidate area for the start point.

7. The teaching system according to claim 6 , wherein, when the start point is specified on the workpiece, the start point specifying unit sets a piercing operation for processing to be performed at the start point, the piercing operation drilling a hole in the workpiece with a fixed laser emission position.

8. The teaching system according to claim 1 , wherein the path includes an approach path extending from the start point to the via point, and the approach path is tangential to the closed processing line at the via point.

9. The teaching system according to claim 8 , wherein a direction of the approach path near the via point is identical to the processing direction of the robot at the via point on the closed processing line.

10. A teaching method comprising:
generating a virtual image including a closed processing line set on a workpiece to be processed by a robot;
specifying a start point at a position other than positions on the closed processing line on the virtual image;
dividing the closed processing line into a plurality of divided lines;
determining a direction of sequential selection of two adjacent divided lines as a processing direction of the robot on the closed processing line;
specifying a via point on a divided line of the plurality of divided lines;
specifying the start point at the position on a side of a reference line extending orthogonally to the divided line and through the via point, the side being opposite to the processing direction with respect to the via point specified on the divided line; and
generating teaching data relative to the robot for a path that leaves the start point to follow the processing line by way of the via point and returns to the via point, wherein the teaching data is performed by the robot.

11. A robot system comprising:
a robot; and
a teaching system that teaches a movement of the robot, the teaching system comprising:
an image generating unit that generates a virtual image including a closed processing line set on a workpiece to be processed by a robot;
a start point specifying unit that specifies a start point at a position other than positions on the closed processing line on the virtual image;
a via point specifying unit that specifies a via point on the closed processing line; and
a teaching data generating unit that generates teaching data relative to the robot for a path that leaves the start point to follow the closed processing line by way of the via point and returns to the via point, wherein the teaching data is performed by the robot; wherein
the closed processing line is divided into a plurality of divided lines,
the via point specifying unit determines a direction of sequential selection of two adjacent divided lines as a processing direction of the robot on the closed processing line, and specifies the via point on a divided line of the plurality of divided lines, and
the start point specifying unit specifies the start point at the position on a side of a reference line extending orthogonally to the divided line and through the via point, the side being opposite to the processing direction with respect to the via point specified on the divided line.

Assignees

• Yaskawa Electric Corp

Inventors

• Kuwahara Koichi

Classifications

• G05B2219/40121

  Trajectory planning in virtual space · CPC title

• G05B2219/35216

  Program, generate nc program, code from cad data · 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

• G05B19/425 Primary

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• G05B2219/35012

  Cad cam · CPC title