JPH06320461A - Teaching method for robot - Google Patents

Abstract

PURPOSE:To reduce a teach time by a method wherein a work or a mold for molding is designed by a CAD, a teach spot is indicated based on a produced work design diagram or mold design diagram to produce teach data in the CAD, which is stored at a robot controller. CONSTITUTION:A grinder 2 is attached to the arm 1a of a robot body 1 and the burrs of a work 4 positioned in the given position of a positioning device 3 is ground by means of a grinder 2. In the robot, the design of the work 4 is executed by means of a CAD 6 to produce a work design diagram 7. A teach spot is assigned by an operator as a work design diagram 7 is watched. Based on the teach spot, teach data is edited by the CAD 6 and transferred to a robot controller 5. The teach data is stored by the robot controller 5. In this case, the data may be stored in a floppy disc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching method, and is particularly useful when applied to a deburring robot for casting products, which has many teaching points.

[0002]

2. Description of the Related Art Robots, particularly industrial robots, are often of a teaching / playback type.
In this type of robot, the operation involved in the work to be performed is stored in the robot controller in advance, and then the robot is controlled based on the data stored in the robot controller so that the same work is repeated.

Therefore, it is necessary to teach the operation of this type of robot in advance.

Taking a deburring robot as an example, a teaching method according to the prior art will be described. (1) Prepare a reference work (deburred) that is a work sample for teaching. (2) Set the reference work on the positioning device under the same conditions as when deburring. (3) First, create a basic program and teach the operation sequence. (4) Run the basic program by step operation from the beginning of the program, and actually move the robot body by inching operation. The operator positions the start point and end point of the operation at the required position from the teaching box and writes it in the program. Do. (5) A series of motion loci are written by repeating the work in (4). (6) After teaching all the operating points, run the program step by step from the beginning to check the movement of the robot.

Thus, the teaching of the motion locus of the deburring work of the robot is completed, the necessary items are programmed, and the actual work is performed.

[0006]

In the above-mentioned prior art, the teaching of the operating point (movement locus) of the robot body is a work by inching (inching) operation using the reference work and the robot body. It is a complicated and time-consuming task. Incidentally, the teaching time for one point requires an average of 6 minutes, and the teaching point for one work is about 200 points.

In view of the above-mentioned conventional technique, it is an object of the present invention to provide a teaching method for a robot which can significantly reduce the teaching time.

[0008]

The structure of the present invention which achieves the above object is a robot teaching method for performing a predetermined operation under the control of a robot controller based on teaching data stored in advance. The design of the mold for forming the work is done by CAD,
As a result, by designating the teaching point based on the design drawing of the work or the design drawing of the mold created by CAD, CA
The teaching data is created in D and the teaching data is stored in the robot controller.

[0009]

According to the present invention having the above structure, the operator is
Teaching points may be taught using a design drawing of a work or a casting product mold created by AD.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is an explanatory view conceptually showing a system for realizing an embodiment of the present invention. As shown in the figure, the robot of this example is a deburring robot, and an arm 1a of a robot body 1 thereof has a grinder 2 attached thereto, and the grinder 2 positions and fixes it at a predetermined position of a positioning device 3. The work to grind the burrs of the work 4 thus cut is performed. That is, the robot body 1 operates according to the teaching data under the control of the robot controller 5 based on the teaching data stored in the robot controller 5.

The CAD 6 is for designing the work 4. Based on the design drawing 7 created as a result, the operator designates a teaching point to edit the teaching data, and the teaching data is transmitted to the robot controller 5. To do. Here, the editing of teaching data means an operation of converting design data in the CAD 6 into data that can be read by the robot controller 5.

A teaching method according to this embodiment using such a system will be described with reference to FIG.

(1) The CAD 6 designs the work 4 (block 11). (2) As a result, a CAD drawing, that is, a design drawing 7 of the work 4 is created (block 12). (3) The operator designates a teaching point while looking at the design drawing 7 (block 13). (4) The teaching data is edited by CAD6 (block 14). (5) Edited teaching data to robot controller 5
(Block 15). (6) As a result, the teaching data is stored in the robot controller 5 (block 16).

In the above embodiment, the teaching data created by the CAD 6 is stored in the floppy disk, and the data of this floppy disk is stored in the robot controller 5.
You may make it read in.

The teaching data may be a design drawing of a mold created by the CAD 6 when the work 4 is a cast product. The teaching point of the actual work is a position on the work 4 as a reference, but since the inner peripheral surface shape of the mold is the same as the surface shape of the work 4, the teaching point can be appropriately specified also by the design drawing of the mold. .

[0017]

As described above in detail with reference to the embodiments, according to the present invention, the teaching point is designated on the CAD by using the CAD design drawing of the work or the design drawing of the mold of the work which is a casting product. The desired teaching data can be obtained and the teaching work of the robot can be carried out.

[Brief description of drawings]

FIG. 1 is an explanatory diagram conceptually showing a system for realizing an embodiment of the present invention.

FIG. 2 is a flowchart showing an embodiment of the present invention.

[Explanation of symbols]

 1 Robot main body 4 Work 5 Robot controller 6 CAD 7 Design drawing

Claims (1)

[Claims] 1. A method for teaching a robot that performs a predetermined operation under the control of a robot controller based on pre-stored teaching data, wherein CAD is used to design a mold for forming a work or a work that is a casting product. As a result, the teaching data is created in the CAD by designating the teaching point based on the work design drawing or the mold design drawing created by CAD, and the teaching data is stored in the robot controller. Robot teaching method.