Offline teaching apparatus for robot

Abstract

An offline teaching apparatus (10) for generating, in an offline mode, a robot operation relating to tracking and working relative to a workpiece traveling along a carrier route. The apparatus includes a model-image generating section (12) for generating images of a carrier-route model (CM), a workpiece model (WM) and a robot model (RM); an indicator generating section (14) for generating a base-point indicator (BI), and upstream-end and downstream-end indicators (UI,DI) defining a spatial range (S) for performing the robot operation; a display section for displaying, on a screen (22), the images of the carrier-route model, the workpiece model and the robot model, together with the base-point indicator, the upstream-end indicator and the downstream-end indicator; a carrying-operation simulating section (18) for causing the workpiece model to simulate a workpiece traveling motion along the carrier-route model; and a robot-operation simulating section (20) for causing the robot model to simulate the robot operation, during a period from an instant the workpiece model passes by the upstream-end indicator until an instant the workpiece model arrives at the downstream-end indicator.

Description

technical field [0001] The invention relates to the programming technology of a robot, in particular to an off-line teaching device for off-line teaching about the tracking of a moving workpiece and the robot action of the operation. Background technique [0002] In robots, especially in the production system using industrial robots, there is known such a structure, that is, for workpieces (i.e. work objects) moving along the conveying path, the robot tracks the movement of the workpiece (this action is referred to in this application as "tracking"), while using a tool attached to the end of the arm (that is, an end effector) to perform some kind of work such as grasping. For example, Japanese Patent No. 3002097 (JP-B-3002097) discloses a structure in which a vision sensor is used before the tracking operation starts in a robot system for tracking a workpiece being transported on a conveyor. Detects the positional deviation of the workpiece, and makes the robot perform corr...

AI Technical Summary

Problems solved by technology

Therefore, when teaching offline, it is difficult to optimize the teaching information through simulation because the range of the space that ensures the safety of robot movement cannot be confirmed.

That is, as the robot motion teaching method in the robot system accompanying the workpiece tracking motion, when the existing off-line teaching method is adopted, the efficiency of the robot system can be improved by adjusting the robot motion or adjusting the allowable range of the space. , security, and reliability are generally difficult

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