Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1992-09-02
1994-04-05
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856824, 901 3, B25J 922
Patent
active
053008685
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a robot teaching method for changing an operation program for a robot, and more specifically, to a method of teaching a robot by which the teaching points of an operation program can be simply changed.
2. Description of the Related Art
Robots have been widely used in welding lines and assembly lines for automobiles. In these manufacturing lines for automobiles, even if an operation program for a robot is created, each automobile is not always stopped at a given position. To cope with this problem, a position of an object is confirmed by using a visual sensor or the like and the operation program is corrected, based on data obtained therefrom, so that each object can be accurately processed.
More specifically, positions of the operation program for the robot are taught by using a master body. Next, a visual sensor recognizes the position of the master body and stores it as a reference position. Next, an actual workpiece body is placed in position, the visual sensor recognizes the position of the workpiece body, notifies a robot control unit of an amount of dislocation between the master body and the workpiece body as correction data, and the robot control unit adds the correction data to the operation program in order to correctly process the workpiece body.
Nevertheless, a problem arises in that when teaching positions and the like of an operation program are changed, a master body must again be placed in position to change the operation program. This job of placing the master body is time consuming. Further, the master body must be kept in the vicinity of a manufacturing line at all times.
Conversely, since the tool center point (TCP) of the robot moves on a locus corrected by the correction data on the workpiece body, it is actually difficult to change the operation program by using only the workpiece body.
SUMMARY OF THE INVENTION
Taking the above into consideration, an object of the present invention is to provide a robot teaching method by which an operation program can be simply changed by using a workpiece body.
To attain the above object, according to the present invention, there is provided a robot teaching method for changing an operation program for a robot which comprises the steps of positioning the tool center point (TCP) of the robot to a point to be changed on a workpiece body, determining first coordinate values of the point to be changed, converting the first coordinate values to second coordinate values on a master body by the correction data and rewriting a command value of the operation program to the second coordinate values, thereby changing the operation program.
The TCP is positioned to the changed point on the workpiece body and the first coordinate values of the changed point are determined. The first coordinate values are changed to the second coordinate values on the master body by the correction data. The operation program can be changed without using the master body by rewriting the command value of the operation program to the second coordinate values. Of course, this conversion is executed by the control program of a robot control unit.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagram showing the relationship between a master body and a workpiece body;
FIG. 2 is a diagram showing an arrangement of a robot system embodying a robot teaching method according to the present invention;
FIG. 3 is a flowchart showing an operation effected by an operator for changing an operation program; and
FIG. 4 is a flowchart of a process effected by a robot control unit for changing the operation program.
DESCRIPTION OF THE PREFERRED EMBODIMENT
An embodiment of the present invention will be described below with reference to the drawings.
FIG. 2 is a diagram showing an arrangement of a robot system embodying a robot teaching method according to the present invention. This system a master body 21, workpiece body 22, cameras 2, 3 and 4, robot 5, robot control unit 6, and visual sensor unit 10. T
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patent: 4670849 (1987-06-01), Okada et al.
patent: 4761745 (1988-08-01), Kodaira
patent: 4954762 (1990-09-01), Miyake et al.
patent: 4972347 (1990-11-01), Tarvin et al.
Akiyama Kazuhiko
Arimatsu Taro
Karakama Tatsuo
Watanabe Atsushi
Cabeca John W.
Fanuc Ltd.
Shoop Jr. William M.
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