Electric heating – Metal heating – By arc
Patent
1997-05-21
1999-06-15
Shaw, Clifford C.
Electric heating
Metal heating
By arc
36447436, 901 42, B23K 912
Patent
active
059118920
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a jog operation method for an industrial robot (hereinafter referred to as a "robot") and, more particularly, to a jog operation method which is designed to perform a jog-feeding operation conforming to a coordinate system having coordinate axes which coincide with the moving directions of a robot. In particular, the present invention can be effectively applied when an attitude (attitude of a welding torch, a sealing gun, a spot gun, or the like) is to be taught to a welding robot or a sealing robot.
BACKGROUND ART
As typical methods of moving a robot toward a target position, a reproduction operation of an operation program and a jog operation are employed. The latter jog operation method comprises a base (world) coordinate system jog, a user coordinate system jog, a tool coordinate system jog, individual axes jog, and the like. These methods are selectively used for various applications.
Of these jogs, the tool coordinate system jog is characterized by that jog operation by translational/rotational moving direction during a jog operation can be specified according to a tool coordinate system defined together with a tool such as a welding torch, a sealing gun, a spot gun, or a hand which are to be mounted on the distal end of the robot. For this reason, this tool coordinate system jog is relatively frequently used in an application such as arc welding or sealing.
For example, in the case of an arc welding robot, as shown in FIG. 1, in many instances, a tool coordinate system such that a distal end 2 of a welding torch (hereinafter referred to as "torch") 1 is defined as an origin, a torch direction is defined as a Z axis, and a direction which frequently corresponds to a torch front is defined as an X axis. It should be noted that the "torch front" means a torch surface, which faces a welding line direction (advancing direction of welding) 3.
When teaching a robot its position for a jog operation conforming to the tool coordinate system defined as described above, at least at the stage of attitude teaching, in general, it is a common practice for an operator to adjust the attitude of the robot after bringing the robot to the position at which the direction of its X-axis coincides with the welding line direction 3. This is because, when one specific coordinate axis (X axis) of the tool coordinate system is made to coincide with the welding line direction 3, operability of the tool aided by the sense of the operator in the subsequent jog operation according to the coordinate system can be improved.
More specifically, the relationship between a jog operation key and the moving direction of the robot (especially, the direction of rotational movement) can be sensed with greater ease in this way. For example, an operator not only can be conscious of a jog key operation for moving around an .+-.X axis in correspondence with rotational movement around the welding line direction 3, but also can be conscious of rotational movement around an axis which is vertical to the welding line direction 3, or vertical to the coordinate axis corresponding to the axial direction of the tool, relating to a jog key operation for moving around a .+-.Y axis. As quantities for describing torch attitudes to be adjusted as described above, a work angle and a travel angle are used.
FIG. 2 is a view for explaining a work angle and a travel angle on an arc welding robot, and shows the relationship among a welding line, a reference surface, a work angle, a travel angle with reference to linear welding paths A and B. Referring to FIG. 2, a reference surface .GAMMA.0 is used as a reference together with the welding line direction (direction of A - B) 3 when the work angle Is defined. In general, a work surface representing a work portion in which the welding path A-B is present is selected as the reference surface .GAMMA.0. Reference symbol <n> denotes a normal vector representing the direction of the reference surface .GAMMA.0, and reference symbol .GAMMA.1 denotes a surface which
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Kosaka Tetsuya
Takahashi Hiromitsu
Fauc Ltd.
Shaw Clifford C.
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