Robot teaching device

• US 20040199288A1
• Filed: 02/27/2004
• Published: 10/07/2004
• Est. Priority Date: 02/28/2003
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Nagatsuka, Yoshiharu, Mizuno, Jun, Watanabe, Atsushi
• Granted Patent: US 7,373,220 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/35328 Shift view as function of shift of tool with respect to workpiece
• CPC Class Codes: G05B 2219/35506 Camera images overlayed with graphics, model
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/36163 Local as well as remote control panel
• CPC Class Codes: G05B 2219/39444 Display of position, of shape of robot and tool
• CPC Class Codes: G05B 2219/39448 Same teach pendant connects to many robot controllers over network
• CPC Class Codes: G05B 2219/39449 Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device. Thus, the operator can operate the robot for modifying positions of the taught points or orientations at the taught points with ease, referring to the three-dimensional model of the workpiece and the taught points on the display device as viewed from the present position of the operator.

Claims

1. A teaching device for teaching a robot of positions for performing an operation on an object, comprising:

storage means storing positional relation between of the robot and the object;

first displaying means for displaying a model of the robot on a display device movable around the object with an operator;

specifying means for the operator to specify a direction of a present position of the operator with respect to the robot, referring to the model of the robot displayed on the display device;

second displaying means for displaying a three-dimensional model of the object as viewed from the specified direction of the operator on the display device; and

manual operation means for the operator to operate the robot for designating positions for performing the operation on the object, referring to the three-dimensional model of the object displayed on the display device.

6. A robot teaching device according to claim 1, wherein at least a part of a model of a tool attached to the robot is displayed on the display device with the three-dimensional model of the object, when the robot is operated such that the tool is located in the vicinity of the object.

2. A teaching modification device for modifying positions of taught points or orientations at the taught points for performing an operation on an object by a robot, comprising:

storage means storing positional relation among the robot, the object and the taught points;

first displaying means for displaying a model of the robot on a display device movable around the object with an operator;

specifying means for the operator to specify a direction of a present position of the operator with respect to the robot, referring to the model of the robot displayed on the display device;

second displaying means for displaying a three-dimensional model of the object and the taught points as viewed from the specified direction of the operator on the display device; and

manual operation means for the operator to operate the robot for modifying positions of the taught points or orientations at the taught points, referring to the three-dimensional model of the object and the taught points displayed on the display device.

7. A robot teaching device according to claim 2, wherein at least a part of a model of a tool attached to the robot is displayed on the display device with the three-dimensional model of the object, when the robot is operated such that the tool is located in the vicinity of the object.

3. A teaching device for teaching a robot of positions for performing an operation on an object, comprising:

storage means storing positional relation between of the robot and the object;

first displaying means for displaying a model of the object on a display device movable around the object with an operator;

specifying means for the operator to specify a direction of a present position of the operator with respect to the object, referring to the model of the object displayed on the display device;

second displaying means for displaying an image of a three-dimensional model of the object as viewed from the specified direction of the operator on the display device; and

manual operation means for the operator to operate the robot for designating positions for performing the operation on the object, referring to the three-dimensional model of the object displayed on the display device.

8. A robot teaching device according to claim 3, wherein at least a part of a model of a tool attached to the robot is displayed on the display device with the three-dimensional model of the object, when the robot is operated such that the tool is located in the vicinity of the object.

4. A teaching modification device for modifying positions of taught points or orientations at the taught points for performing an operation on an object by a robot, comprising:

storage means storing positional relation among the robot, the object and the taught points;

first displaying means for displaying a model of the object on a display device movable around the object with an operator;

specifying means for the operator to specify a direction of a present position of the operator with respect to the object, referring to the model of the robot displayed on the display device;

second displaying means for displaying a three-dimensional model of the object and the taught points as viewed from the specified direction of the operator on the display device; and

manual operation means for the operator to operate the robot for modifying positions of the taught points or orientations at the taught points, referring to the three-dimensional model of the object and the taught points displayed on the display device.

9. A robot teaching device according to claim 4, wherein at least a part of a model of a tool attached to the robot is displayed on the display device with the three-dimensional model of the object, when the robot is operated such that the tool is located in the vicinity of the object.

5. A teaching modification device for modifying positions of taught points or orientations at the taught points for performing an operation on an object by a robot, comprising:

storage means storing positional relation among the robot, the object and the taught points;

displaying means for displaying a three-dimensional model of the object and the positions of the taught points on a display device movable around the object with the operator;

selecting means for the operator to select one of the taught points displayed on the display device;

determining means for determining whether or not the selected taught point is visible without interference on the display device in a direction of a present line of sight on the three-dimensional model; and

altering means for altering the line of sight on the three-dimensional model on the display device such that the selected taught point is visible without interference in the direction of the altered line of sight when it is determined that the selected taught point is not visible on the display device by said determining means.

10. A robot teaching device according to claim 5, wherein at least a part of a model of a tool attached to the robot is displayed on the display device with the three-dimensional model of the object, when the robot is operated such that the tool is located in the vicinity of the object.