JPH06222829A - Robot teaching position correcting method - Google Patents

Abstract

PURPOSE:To safely and effectively correct the teaching position of a robot by preparing several types of common position correcting offset value for each teaching point and executing selectively the correcting conditions for batch correction of teaching positions. CONSTITUTION:When a burr removing blade 3A is pressed onto the machining surfaces 1 and 2, the burr parts 1B and 2B of the surfaces 1 and 2 are cut up to the finishing surfaces 1A and 2A and then removed. A locus of P1 P2-P9 is presumed as that of a tool point 3B when a program produced in an off-line state is directly reproduced. Then, several correcting conditions are prepared for designation of the offset correction value of an application section and the approximation/separation of machining surface. Then, the proper correcting conditions are selectively carried out in a reproduction mode of program to correct the tracks. At the same time, the correcting conditions are retrieved for a better track. Then, the production of correcting conditions and the execution of program reproduction/position correcting conditions are repeated as necessary. In such a way, an optimum teaching position is fixed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position teaching correction method for an industrial robot or the like which operates according to a taught program, and more particularly to a burr in a finishing process of a workpiece machined or cast using the robot. The present invention relates to a teaching position correcting method of a robot for correcting a teaching position included in a created teaching program when performing a taking operation or the like.

[0002]

2. Description of the Related Art As in the case of creating a program off-line, if the operation when actually performing a regenerating operation according to the program is unconfirmed or unknown, perform a trial regenerating operation of the program and It is common to modify the offline program accordingly.

In such a program confirmation work, first, a program reproduction operation is performed in a state where the work to be worked is evacuated, a rough reproduction operation is confirmed, and then the work is actually placed at the work position. The basic method is to confirm the robot trajectory while playing the program again.

When the program is reproduced and necessary corrections are made with the work placed, the robot is operated while sequentially reproducing the program, and the robot is once stopped when the position where the correction is necessary is reached. It has been repeated to carry out various work necessary for correction and then restart the operation.

The case where the teaching position needs to be corrected is (1)
It is roughly divided into a case where a correction in a direction of bringing a tool closer to a work is required, and (2) a case where it is necessary to correct a teaching position in a direction of separating a tool from a work. For example, the case (1) above is the case where the tool tip does not reach the work surface during deburring work, and conversely, the case where the tool tip is excessively pressed against the work during the regenerative operation according to the program. It corresponds to (2).

In case (1), after the robot is stopped, the work is left as it is and the robot is brought close to an appropriate position by manual jog feed to correct the position data. On the other hand, in case (2), the work is first evacuated to an appropriate position, and then temporarily moved to the position specified by the program. After that, the robot is retracted a sufficient distance by manual jog feed, the work is returned to the original position again, and then the robot is brought close to the work by manual jog feed and stopped at an appropriate position, and the position data is corrected. The usual procedure is to

[0007]

As described above, when the teaching position is corrected when checking the program, the robot is temporarily stopped for each teaching position that needs to be corrected. When the correction is required, it is considered that it is often necessary to correct a considerable number of teaching points before and after the correction. Therefore, the stop of the robot, the correction work, and the restart of the robot are often repeated over and over, which causes a decrease in work efficiency.

In particular, when the work of retreating and rearranging work is added to the correction work as in the case of (2), the whole work becomes extremely complicated and inefficient, and the burr When retracting the work that is the target of machining, etc., there is a possibility of causing an accident that damages the tool tip, the tool mounting portion, the work machining surface, the fingers of the worker's body, or the like.

The present invention overcomes the above-mentioned problems of the prior art in the teaching position correcting work which is required during the reproduction operation mainly for confirming the teaching program, and executes the teaching position correcting work safely and efficiently. It is an object of the present invention to provide a method for correcting a teaching position of a robot, and particularly, a teaching method of a robot which is advantageous when a teaching position is corrected for a program for work including deburring using the robot. It is intended to provide a position correction method.

[0010]

According to the present invention, for example, a position correction offset amount common to each teaching point in a teaching point section designated in association with a section of a work target surface with respect to a teaching program created offline. Create a plurality of position correction conditions that set Δ, and make the correction conditions selectively effective at or after the start of the playback of the teaching program to collectively correct the teaching point position and specify the specified offset on the work surface. The above problem is solved by correcting the teaching position of the robot in such a manner that the robot is moved closer by a predetermined amount or is separated from the work surface by a designated offset amount.

Further, as a more practical form of the present invention, for at least one teaching point section, a plurality of correction conditions are prepared in which a teaching point section including the teaching point section is the designated teaching point section. This provides a configuration (configuration according to claim 2) in which the correction content for one teaching point section can be selected from a plurality of correction conditions, and at that time, approaches the work surface. By preparing the correction condition so that either one of the following can be selected, it is possible to flexibly respond to both the case where the robot is too far from the work surface and the case where the robot is excessively approaching or biting into the same teaching point section. The present invention can deal with the above (configuration of claim 3).

Further, it is considered that one teaching position correction is not enough to bring the work closer to a perfect one while proceeding more carefully with the whole work. Therefore, there are a plurality of steps of program reproduction / teaching position correction. A teaching position correcting method is provided which is further improved in practicability by providing a method of repeatedly executing a number of times (configuration of claim 4).

As described above, when the robot is used for the deburring work required for the finishing process after machining or casting, the teaching position is corrected in view of the fact that the problems of the prior art are particularly serious. The target program of (1) is specified for work including deburring work (configuration of claim 5).

[0014]

FIG. 1 is a diagram for explaining the principle of the present invention, taking as an example the case where the teaching position correcting method of the present invention is applied to a teaching program created offline for deburring work. . In the figure, a deburring tool 3 is attached to a face surface 5A of a tool attaching portion 5 of a robot via a tool holder 4 having a floating mechanism (not shown). A deburring blade 3A is provided at the tip of the deburring tool 3.

Numerals 1 and 2 are work surfaces (working surfaces) having burrs 1B and 2B, respectively, which are world coordinate system O-
The burr portions 1B and 2B extend along the Y-axis direction of XYZ.
Is projected in the X-axis direction as shown in the figure.
When the deburring blade 3A is pressed against the machined surface 1 or 2 while being driven by a motor and a transmission mechanism (not shown), the burr portions 1B and 2B of each machined surface are cut and removed to the finished surfaces 1A and 2A. Since the tool 3 is elastically supported by the floating mechanism, in a normal case, the tool point 3B exists at a position where the blade 3A is appropriately pressed against the machining surfaces 1 and 2 in order to perform deburring work properly. The robot is controlled to do so.

In FIG. 1, a tool point 3B when a program created offline is reproduced as it is
As the locus drawn by, P1 → P2 → P3 → P4 → P5 → P
6 → P7 → P8 → P9 is assumed. P6 to P8 are excessively pressed against the machining surface 2 and are actually difficult to achieve unless the work is retracted. On the contrary,
P2 to P4 are too far from the machined surface 1, and in this state, sufficient deburring is not performed.

In the present invention, assuming that such a situation may occur in advance, some correction conditions that specify the offset correction amount of the applied section and the machining surface approach / separation are prepared, and the program reproduction operation is performed. Correct the correction conditions selectively and perform trajectory correction while searching for correction conditions to obtain a more preferable trajectory, create correction conditions as necessary, program playback / position correction condition execution Repeat the process of conversion.

Here, the following two correction conditions C1 and C2 are prepared for the first program reproduction / correction process.

Correction condition C1; Δ1 = -10 mm, applicable section P2 to P8 Correction condition C2; Δ2 = + 30 mm, applicable section P2 to P8 Offset amount Δ in each correction condition is set to approach / separate to the machining surfaces 1 and 2. Correspondingly, it is defined as the shift amount in the X-axis direction. Therefore, if the correction condition C1 is made effective, the teaching point is shifted by 10 mm in the direction approaching or biting into the processed surfaces 1, 2, and if the correction condition C2 is made effective, the processed surface 1,
The teaching point is shifted by 30 mm in the direction away from 2. Generally, from the viewpoint of preventing the careless pressing of the tool by priority and advancing the work more carefully, especially for the first test regeneration operation, the offset amount in the direction that separates the offset amount that approaches the machining surface It is preferable to prepare a correction condition that is set smaller than the amount.

After preparing the above correction conditions C1 and C2,
Start the first playback of the program created offline. The tool 3 is already attached. The tool point 3B (hereinafter, simply referred to as a robot) of the robot first passes through the first teaching point P1 and enters a trajectory toward the second teaching point P2. The operator visually measures the distance between the tip of the moving blade 3A and the finishing surface 1A of the machining surface 1 and says, "The tool is too far from the machining surface 1, and
Even if the trajectory of the robot is corrected so that it approaches the machining surface 1 by 10 mm, the tool will not fall into the state of being excessively close to the machining surface 1. " Emit. Immediately after the time required for the correction process, the robot deviates from the trajectory from P1 to P2 and heads to Q2. This trajectory change position is S1.

After the correction condition C1 is implemented, the correction condition C1 is invalidated or the trajectory of the robot passes through the designated teaching point section (here, P2 to P8) until the original teaching program. It is corrected from the one that follows the designated teaching position to the one that is parallel-shifted so that it approaches the machining surface 1 by 10 mm.

That is, the robot takes a trajectory of S1 → Q2 and then Q2 → Q3 → Q, as shown by the broken line in the figure.
4 → ・ ・ ・ ・ Take the orbit indicated by.

In the meantime, the operator searches for the correction conditions (section and offset amount) necessary to realize the optimum trajectory for deburring by visual observation or the like. After the robot passes the point Q4, the operator invalidates the correction condition C1 and returns the robot from the position S2 to the teaching position P5 designated in the program before the correction condition was activated. Q5 in the figure represents the position where P5 is shifted by 10 mm in the negative direction of the X-axis, but if the trajectory is changed by invalidating the modified condition C1 before the robot reaches Q5, it will actually change. The robot never crosses Q5.

The robot passes the teaching position P5 designated by the program and further starts moving toward P6, but the teaching point position P6 is in a state of biting into the machining surface 2 as described above. Therefore, if the tool 3 is left as it is and the program regeneration operation is continued as it is, the tool 3 is excessively pressed against the machined surface 2 and excessively digs into the burr 2B. Therefore, the operator "needs to shift the robot trajectory in a direction away from the processing surface 2",
When it is determined that the correction condition C2 is put into effect. Let S3 be the trajectory change position due to the implementation of the correction condition C2.

The trajectory of the robot in the teaching point section P6 to P8 is shifted by 30 mm in the direction away from the machining surface 2 (Q6 unless the correction condition C2 is invalidated during that time).
It is corrected to ~ Q8), and follows the trajectory shown by S2 → Q6 → Q7 → Q8.

The offset amount under the correction condition C2 is +
Since it is relatively large at 30 mm, the orbit Q6 to Q8
Is considerably separated from the processed surface 2. As in the case of the machining surface 1 (trajectory P2 to P4), the operator needs to correct the conditions (section and offset amount) for P6 to P8 required to execute deburring on the machining surface 2 on the optimum trajectory.
Is searched by visual observation. When the robot passes the point Q8, the specified section of the correction condition C2 (P2 to P
8) is released, the robot moves to P9, which is the teaching position specified by the program, and ends one cycle of regenerative operation. The correction condition C2 is invalidated at an appropriate time after passing the point Q8.

Based on the search result in the first program regeneration operation described above, the operator newly creates a correction condition that is considered to be optimal for the deburring work, or creates a large number of correction conditions in advance. The most preferable one is selected from the above. Here, the correction condition (C3) for shifting the sections P2 to P4 toward the working surface 1 by 20 mm and the sections P6 to P are as follows.
A correction condition (C4) for shifting 8 in the direction away from the machined surface 2 by 20 mm is newly created.

Modification condition C3; Δ3 = −20 mm, applicable section P2 to P4 Modification condition C4; Δ4 = + 20 mm, applicable section P6 to P8 Then, the modification condition C3 and the modification condition C4 are valid from the second time. The regenerative driving is performed. Correction condition C3,
Since C4 has the contents as described above, the teaching point positions P2 to P4 and P6 to P8 are set to R2 to R4 and R6, respectively.
The orbit modified to ~ R8 is realized. Therefore, the robot trajectory in the second regenerative operation is P1 → R2 → R3
→ R4 → P5 → R6 → R7 → R8 → P9

When the second regenerating operation is actually performed with the deburring blade 3A at the tip of the tool being driven,
If satisfactory results are obtained, the correction work is completed. That is, assuming a manufacturing line of a type in which deburring required works of the same kind and the same shape are successively supplied to the same work position, thereafter, by repeating the program regeneration operation in a state in which the correction conditions C3 and C4 are put into effect, Precise deburring work will be executed for each work.

If a satisfactory result is not obtained in the second regeneration operation, a correction condition is created again (for example, C5; Δ5 = -22 mm, applicable section P2 to P4, correction condition C6; Δ6 = +17 mm, applicable section P6 to P8)
Then, the reproduction operation is performed again with the correction condition being valid, and the adequacy of the teaching position is confirmed. After that, such a process can be repeated as many times as necessary to determine the optimum teaching position.

In the above description, the necessity of the trajectory correction and the search for the optimum correction condition are determined by the visual observation by the operator. However, the present invention provides some sensor means capable of detecting the distance between the tool processing surfaces. It does not preclude the incorporation and automation of some or all of the operator's work. For example, the state of excessive approach or bite of the tool is detected by a visual sensor, a pressure sensor, or an overload signal of the drive motor of the robot, and the correction condition in the separating direction is automatically validated, or the tool during regenerative operation is used. It is conceivable to measure the machining surface distance with a sensor and obtain data for more preferable correction condition creation.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment of the present invention, a more specific procedure for executing the teaching position correcting method in accordance with the process exemplified in the section of the above description of operation will be described with reference to FIGS. explain.

FIG. 2 is a principal block diagram showing an example of a robot controller used when the teaching position correcting method according to the present invention is carried out. In the figure, a robot controller 10 is a central processing unit (hereinafter referred to as CPU) 1
1 and the CPU 11 has a memory 1 including a ROM.
2, a memory 13 including a RAM, a non-volatile memory 14,
A teaching operation panel 16 having a liquid crystal display device 15; a robot axis control unit 17 including an interpolator and controlling each axis of the robot;
And I / O of an off-line program creation device (not shown)
The interface 19 connected to the port is connected via the bus 20. The robot axis controller 17 is further connected to the robot body 30 via a servo circuit 18.

In the ROM 12, the CPU 11 stores the robot 2
0 and various programs executed for controlling the robot controller 10 itself are stored. The RAM 13 is a memory used for temporary storage of data and calculation. The nonvolatile memory 14 can store various parameter setting values and programs (including teaching data) created offline via the interface 19 from the teaching operation panel 16 or the off-line program creating device. It has become.

Although the above-mentioned configuration is basically the same as that of the conventional robot controller, the following (1),
The point described in (2) is different from the conventional one. (1) In response to a command from the teaching operation panel 16, a correction condition setting screen as shown in FIG. 3 is displayed on the LCD 15, and the correction condition in which the correction section of the teaching position and the offset amount are designated while viewing the screen is non-volatile. The program to be stored in the memory 14 is stored in the ROM 12 or the non-volatile memory 14.

(2) When a teaching position correction condition validation / invalidation command is issued from the teaching operation panel 16, correction / restoration is performed by adding / subtracting the offset amount Δ to / from the position data in the designated section, and the trajectory is changed. Determine the interpolation point to execute, and calculate a new trajectory (interpolation calculation) based on the position data of the interpolation point and the corrected / returned teaching position data, and change the robot to a new trajectory from the interpolation point position. The program for loading on the ROM 12 or the non-volatile memory 1
Be stored in 4.

Using the robot controller 10 having the above structure and function, the processing when the teaching position is corrected according to the method of the present invention is [1] preparation, [2] first reproduction operation (program confirmation / correction). And search for optimum correction conditions),
[3] FIG. 3 is divided into re-correction condition re-creation and second regeneration operation.
8 will be described in addition to the reference diagram. FIGS. 3 and 4 show screens for creating correction conditions prior to the first and second regeneration operations, respectively, and FIG. 5 shows a preparatory procedure for the first regeneration operation. Is a flowchart. Further, FIGS. 6 and 7 are flowcharts showing the outline of the processing procedure in the first regeneration operation. Then, FIG. 8 is a flow chart for explaining the outline of the procedure for creating the correction condition again after the completion of the first regeneration operation and executing the second regeneration operation.

[1] Preparation Assuming that the teaching program which is the target for carrying out the teaching position correcting method of the present invention has already been created by the offline program creating device based on the CAD data and the like regarding the workpiece, the teaching program shown in FIGS. The procedure of the preparatory work will be described with particular reference to FIG.

First, the robot controller 10 is activated, and the above-mentioned created teaching program is input to the non-volatile memory 14 through the interface 19 of the robot controller 10 from the I / O port of the offline program creating apparatus (not shown) (offline. Teaching; FIG. 5, step ST1). After the off-line teaching is completed, a teaching position correction condition creation / setting screen as shown in FIG. 3 is displayed on the LCD 15 attached to the teaching operation panel 16 by a command from the teaching operation panel 16 (step ST2).

The operator creates the first correction condition while looking at the screen of the LCD 15 (step ST
3). First, in the columns of "Kakoumen 1" to "Kakoumen 4", the teaching point sections corresponding to the sections of the machining surface are numbered Pi to P.
Enter j. The □ mark represents a blank field without screen input. Here, in accordance with the example shown in FIG.
For section P2 to P4, and for processing surface 2 section P6 to
Enter P8. After that, this display content is held on the teaching position correction condition setting screen unless rewriting is performed by changing the machining surface classification or the like. By holding this display, the operator can specify the content of the correction condition while confirming the relationship between the section of the machining surface and the teaching point section.

In this embodiment, since the correction conditions C1 and C2 are set, the input screen is as shown in FIG.
As described above, the offset in each of the correction conditions C1 and C2 causes a position shift of −10 mm and +30 mm along the X axis, and there is no position shift in the Y axis and Z axis directions. Therefore, for the correction condition C1, Δx = -10
mm, correction condition C2, Δx = + 30 mm is input on the screen, and the other columns are left blank.

Finally, when the operator confirms the screen input contents and selects and presses the Y key of the teaching operation panel 16 for Y / N, the correction condition C1 as input on the screen is displayed.
And C2 are set (step ST4), and the preparation work is completed (end).

[2] First regeneration operation (program confirmation /
Correction and Search for Optimal Correction Conditions) The robot controller 10 is activated, the reproduction operation mode screen is called up on the LCD 15, the program created offline is specified, and the first reproduction operation is started (hereinafter, FIG. 6, 7 and 1 in particular). First,
Read one block of the program (step SF
1) The robot is moved from a standby position (not shown) to the teaching position P1 (step SF2). Then, read one block of the program (step SF3), P2
To move to (step SF4). When the operator judges that the trajectory correction according to the correction condition C1 is necessary, the keyboard of the teaching operation panel 16 is operated to correct the correction condition C1.
1 A command for activation is issued (step SF5).

Then, with respect to the position data of the teaching points P2 to P8, the offset amount specified by the correction condition C1-10
A rewriting process of adding mm is executed (step SF
6). At this point, the robot is traveling on the track from P1 to P2, and the track has not been changed.

Therefore, the execution command for the correction condition C1 is CP
At a proper timing after the time point accepted by U11, the position data of the robot in terms of interpolation points is taken in, and the position S1 at which the trajectory change is actually started is determined based on the position data. For example, the interpolation point after several points is set as the trajectory change point S1 with reference to the last interpolation point which has been passed at the end of step SF6 (step SF7). If the command to implement the correction condition C1 is delayed and is issued just before the arrival of the position P2, the trajectory change point S1 is set to P immediately after passing the position P2.
It is set on the orbit between 2 and P3.

Based on the data of the interpolation point S1 and the corrected teaching point position data (position data of Q2), S1 ...
Interpolation calculation between Q2 is started, and some interpolation points are obtained by the time the robot reaches the position S1 and are temporarily stored in the RAM 13 (step SF8). When the robot reaches the position S1 defined as the trajectory change point, the robot takes the trajectory from S1 to Q2 without stopping (step SF9).

Before the robot reaches the position Q2, the next one block of the teaching program is read (step SF
10) After passing through Q2, head for the corrected teaching point Q3 (step SF11). Similarly, teaching program 1
Block reading and movement are repeated one after another, and the orbit is passed through the position Q4 to the corrected position P5 toward Q5 (steps SF12 to SF15).

At this point, the robot is already out of the position for deburring the machining surface 1, so the operator issues a command to invalidate the correction condition C1 at an appropriate timing on the teaching operation panel (step). SF1
6). As a result, the offset amount of the position data of P2 to P8, which has been offset subtracted by 10 mm according to the correction condition C1, is added to restore the initial position data (step SF17).

Then, step SF7 to step SF9
According to the same processing procedure as the above, the trajectory change point S2 is determined (step SF18), the interpolation calculation between S2 and P5 is started (step SF19), and the trajectory change at S2 (step S18).
F20) is performed (up to here, refer to FIG. 6, and thereafter refer to FIG. 7).

Before the robot arrives at P5, the next one block of the teaching program is read (step SF2
1), the robot passes through P5 and enters a trajectory toward the teaching position P6 (step SF22). When the operator recognizes that P6 is too close to the machining surface 2 in the process of the robot approaching P6, the teaching operation panel 16 issues a correction condition C2 enabling command (step SF23). As a result, the teaching position data of P2 to P8 is corrected again, but the offset amount of the correction condition C2 is +
Since it is 30 mm, 30 mm is added to the position data of each of P2 to P8 (step SF24). continue,
The trajectory change point S3 is determined according to the same processing procedure as step SF7 or step SF18 (step S
F25), the interpolation calculation of the sections S3 to Q6 is started (step SF26). When the robot reaches position S3,
The trajectory is changed to a trajectory toward the corrected teaching position Q6 by sequentially passing through the interpolation points calculated by the interpolation calculation (step SF27).

After that, the reading of one block of the teaching program (steps SF28, 30, 32) and the movement between the corrected teaching positions (steps SF29, 31) are repeated one after another, passing through the position Q8, and the correction condition C2. The vehicle departs from the section (P2 to P5) designated by and goes on the trajectory toward the final teaching position P9 (step SF33).

Around the arrival at the final teaching position P9, a command to invalidate the correction condition C2 is issued from the teaching operation panel 16 (step SF34), and the position data of P2 to P8 are restored (step SF35). The first regeneration operation is ended.

In the above process, the section (P2 to P4) for the robot to deburr the machining surface 1 is used.
) And a section (P6 to P8) for performing deburring work on the machining surface 2 and a correction condition (teaching point section) that is considered to give an optimum trajectory for deburring work on each machining surface 1 and 2. And offset amount),
Prepare for the second regeneration operation.

[3] Re-creation of correction condition and second regeneration operation The correction condition determined to be optimum by the search in the first regeneration operation is the correction condition C3 described in the section of description of action.
And C4, the processing procedure of the modified condition re-creation and the second regeneration operation will be described with particular reference to FIGS. 4 and 8.

First, as in the case of creating the correction conditions C1 and C2, a teaching position correction condition setting screen as shown in FIG. 4 is displayed on the LCD 15 by a command from the teaching operation panel 16 (step SS1).

The operator creates the second correction conditions C3 and C4 while looking at the screen of the LCD 15 (step SS2). In the fields of "Kakoumen 1" to "Kakoumen 4", the number displays indicating the correspondence between the machining surface section and the teaching point section input at the time of creating the first correction condition are held.

As described above, the offsets under the respective correction conditions C3 and C4 are -20 mm and + along the X axis, respectively.
The position shift is performed by 20 mm and there is no position shift in the Y-axis and Z-axis directions. Therefore, the correction condition C3 is Δx = −20 mm, and the correction condition C4 is Δx = + 2.
Enter 0 mm on the screen and leave all other fields blank.

Finally, when the operator confirms the screen input contents and selects and presses the Y key of the teaching operation panel 16 for Y / N, the correction condition C3 as input on the screen is displayed.
And C4 are set (step SS3).

After the correction conditions C3 and C4 are created and set, both of these correction conditions are sequentially executed to rewrite the position data of P2 to P4 and P6 to P8 before starting the second regeneration operation. (Step SS4 to Step SS
7). As a result, the teaching points P2, P corresponding to the machining surface 1
An offset value of -20 mm is added to the position data of 3 and P4, and an offset value of +20 mm is added to the position data of P6, P7 and P8.

When the second regeneration operation is executed in this state (step SS8), P2, P3,
Instead of P4, R2, R3, and R4 are replaced by P6, P7, and
Instead of P8, R6, R7, and R8 are set as teaching positions, respectively, so the trajectory of the robot is P1 → R2 → R
3 → R4 → P5 → R6 → R7 → R8 → P9. At this time, in order to confirm that the deburring work is successfully performed, the regenerating operation is performed with the deburring tool 3 being operated. After confirming that the deburring work is performed well (step SS9), the teaching position correcting work is finished.

If further trajectory correction is necessary, the correction conditions C3 and C4 are invalidated and the correction conditions C5 and C6 ...
・ Recreate the above and perform the regeneration operation again. Hereinafter, by repeating the process of reconditioning / regeneration operation for an appropriate number of times, it is possible to sequentially find an ideal trajectory.

[0062]

According to the teaching position correcting method of the present invention, the program confirmation / teaching correction necessary when the actual robot trajectory during the program reproduction operation is not confirmed, as in the case where the program is created offline. The work is remarkably streamlined.

That is, the optimum correction condition can be sought while avoiding the excessive approach or the excessive separation to the work surface by the trajectory correction by the work surface division unit while the program reproducing operation is continued, so that the robot can be searched. The above-mentioned factors such as operation stop, work evacuation, effector removal / reattachment, etc., which have reduced the work efficiency in the prior art, are released.

In particular, the excessive approach of the effector to the machined surface, which has conventionally been a cause of troubles in deburring work, etc., is avoided in advance by real-time trajectory correction, so that not only the effect of improving work efficiency is great. Also, it is extremely meaningful in terms of safety measures. In addition, by evaluating the modified trajectory, it becomes easier to search for a more ideal trajectory, and the confirmation and evaluation of the trajectory that incorporates the modified conditions recreated based on the evaluation can be performed by normal reproduction of the program. Since it can be performed extremely easily by operation, it is possible to obtain a highly accurate program by repeating the correction condition creation / reproduction operation as many times as necessary without requiring a lot of time and complicated work as before. Become.

Further, the approach / separation offset amounts of the teaching point section and the work surface are designated in advance, and they are collectively validated /
Since the clear means of invalidation is adopted, there is less risk of the operator making a mistake when executing the teaching position correction processing.

Further, the correction method capable of designating the approaching / separating amount for each work surface section with respect to the correction of the teaching position is well suited to the actual condition not only in the deburring work but also in the work using a general robot. It can be said that the teaching position correction method of the present invention is extremely excellent in terms of the applicability to a robot used for various purposes.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing a working example for explaining the principle of a teaching position correcting method of the present invention.

FIG. 2 is a block diagram of a main part of a robot controller used when implementing the teaching position correction method of the present invention.

FIG. 3 shows an LCD at the preparation stage in the embodiment of the present invention.
The figure explaining the teaching position correction condition setting screen displayed on a screen.

FIG. 4 is a graph showing an LC at a teaching position correction condition setting stage which is performed prior to the second regeneration operation in the embodiment of the present invention.
The figure explaining the teaching position correction condition setting screen displayed on D screen.

FIG. 5 is a flowchart for explaining an outline of a processing procedure at a preparation stage in the embodiment of the present invention.

FIG. 6 is a flowchart for explaining the outline of the first half of the processing procedure in the first regeneration operation stage (program confirmation / correction and optimum correction condition search) in the embodiment of the present invention.

FIG. 7 is a flow chart for explaining the outline of the latter half of the processing procedure in the first regeneration operation stage (program confirmation / correction and optimum correction condition search) in the embodiment of the present invention.

FIG. 8 is a flow chart for explaining the outline of the processing procedure in the stage of the modified condition re-creation and the second regeneration operation in the embodiment of the present invention.

[Explanation of symbols]

 1, 2 Machining surface 1A, 2A Machining surface Finishing surface 1B, 2B Burr part 3 Tool 3A Burr removing blade 3B Tool point 4 Tool holder 5 Tool mounting part 5A Face surface 10 Robot controller 11 Central processing unit (CPU) 12 Memory (ROM) ) 13 memory (RAM) 14 non-volatile memory 15 LCD (liquid crystal display) 16 teaching operation panel 17 robot axis control unit 18 servo circuit 19 interface 20 bus 30 robot body

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masayuki Hamura 3580 Koshinoba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture FANUC Co., Ltd. Local FANUC Co., Ltd.

Claims (5)

[Claims] 1. A plurality of position correction conditions that define a common position correction offset amount Δ for each teaching point within a teaching point section designated in association with a section of a work target surface for a created teaching program. And a step of selectively enabling the correction condition at the start of the reproduction of the teaching program or thereafter to collectively correct the teaching point position in accordance with the modified correction condition. The corrected offset amount Δ is specified by either offset data that specifies a shift amount in a direction approaching the work surface or offset data that specifies a shift amount in a direction away from the work surface. A method for correcting a teaching position of a robot characterized by the above. 2. At least one teaching point section,
2. The teaching position correcting method for a robot according to claim 1, wherein a plurality of the correction conditions are created so that the designated teaching point section includes the teaching point section including the teaching point section. 3. The plurality of correction conditions include both one that defines the approach direction shift amount and one that defines the separation direction shift amount Δ.
A method for correcting the teaching position of the robot described in. 4. The teaching position correction of the robot according to claim 1, wherein the program reproduction is repeated a plurality of times, and a correction condition that is made effective each time is selected. Method. 5. The teaching position correcting method for a robot according to claim 1, wherein the teaching program is created for work including deburring work.