Correction data checking system for rebots
First Claim
1. A correction data checking system for robots including a sensor for detecting the position of a work line on a workpiece or a sensor for measuring the distance to the workpiece, and a working tool being moved relative to the workpiece according to a copying control technique, the correction data checking system for robots comprising:
- a path position-of-movement calculation unit that checks a path position of movement commanded by a teaching program;
an actual position-of-movement calculation unit that calculates an actual position of movement, to which the working tool is moved by implementing the copying control technique, according to the teaching program; and
a comparison display unit that displays the actual position of movement and the associated path position of movement in comparison with each other.
1 Assignment
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Accused Products
Abstract
Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.
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Citations
10 Claims
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1. A correction data checking system for robots including a sensor for detecting the position of a work line on a workpiece or a sensor for measuring the distance to the workpiece, and a working tool being moved relative to the workpiece according to a copying control technique, the correction data checking system for robots comprising:
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a path position-of-movement calculation unit that checks a path position of movement commanded by a teaching program;
an actual position-of-movement calculation unit that calculates an actual position of movement, to which the working tool is moved by implementing the copying control technique, according to the teaching program; and
a comparison display unit that displays the actual position of movement and the associated path position of movement in comparison with each other. - View Dependent Claims (2, 3, 4, 5)
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6. A correction data checking system for robots including a sensor for detecting the position of a work line on a workpiece or a sensor for measuring the distance to the workpiece, and a working tool relatively moved to the workpiece according to a copying control technique, the correction data checking system for robots comprising:
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a path position-of-movement calculation unit that checks a path position of movement by simulating a teaching program;
an actual position-of-movement calculation unit that calculates an actual position of movement, to which the working tool is moved by implementing the copying control technique, according to the teaching program; and
a comparison display unit that displays the simulated path position of movement and the actual position of movement in comparison with each other. - View Dependent Claims (7)
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8. A correction data checking system for robots using a sensor which detects the position of a work line on a workpiece or a sensor which measures the distance to the workpiece to work on the workpiece while relatively moving a working tool to the workpiece according to the copying control technique, and the robot controlling or modifying conditions for machining according to information which is sent from the sensor and dependent on the state of the workpiece, the correction data checking system comprises:
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a memory unit in which the conditions for machining commanded for the working tool by a teaching program are acquired and stored at a plurality of predetermined timings;
an actual conditions-for-machining calculation unit that calculates actual conditions for machining, under which the working tool are controlled, according to the teaching program; and
a comparison display unit that displays the actual conditions for machining and the conditions for machining stored in the memory unit in comparison with each other. - View Dependent Claims (9, 10)
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Specification