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Offline robot programming device

A technology of programming devices and robots, which is applied in the direction of program control devices, instruments, manipulators, etc., and can solve problems such as time-consuming

Active Publication Date: 2017-05-10
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When correcting or generating teaching points in an offline program, it is time-consuming to move the robot to correct the teaching points after manually moving the peripheral devices

Method used

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  • Offline robot programming device
  • Offline robot programming device
  • Offline robot programming device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0020] figure 1 It is a diagram showing a configuration example of a robot programming device (hereinafter also simply referred to as a programming device) 10 according to a preferred embodiment of the present invention. The programming device 10 has a display unit (display) 14 capable of displaying a three-dimensional model of the robot system 12 arranged in a three-dimensional virtual space, and a control device 16 having various functions described later. The robot system 12 includes: a robot 22 having a movable part (robot arm) 20 with an openable and closable manipulator 18 attached to the front end, an openable and closable door 24, a workbench 26, and a gripper with an openable and closable arm 18. The peripheral device (such as a machine tool) 30 of the robot 28 controls the manipulator 18, the door 24, and the gripper 28 through the I / O signal (control signal) of the robot 22.

[0021] The manipulator 18 is configured to enter into the interior of the machine tool 30...

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PUM

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Abstract

The invention provides an offline robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation of the motion of the peripheral equipment and the robot hand, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program, or with respect to a teaching point or a trajectory between the teaching points included in a program template on which the robot operation program is described, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory between the teaching points; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.

Description

technical field [0001] The invention relates to a programming device for a robot, which performs off-line simulation of the robot, generation and correction of an operation program. Background technique [0002] In a system including a robot and a peripheral device, cooperative work such as moving a workpiece grasped by a robot, placing it in a machine tool, and processing the workpiece by the machine tool is often performed. Such a system can be controlled according to a predetermined operation program, but when the type of robot or machine tool or the type of workpiece is changed, the operation program needs to be appropriately changed. [0003] As a prior art related to this, for example, Japanese Patent No. 3905075 discloses a work program generation device that separates a work program into a first program part that needs to be changed depending on the work workpiece and a first program part that does not depend on the type of work work. The second program part can gen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22G06F9/455
CPCB25J9/161B25J9/1671G06F9/45508B25J9/1666G05B2219/40476
Inventor 井上幸三
Owner FANUC LTD
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