Correction data checking system for rebots

• US 7,149,602 B2
• Filed: 10/01/2004
• Issued: 12/12/2006
• Est. Priority Date: 10/02/2003
• Status: Expired due to Fees

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Watanabe, Atsushi, Okuda, Mitsuhiro
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US10/954,606
• Publication Number:
  US 20050107918A1
• Time in Patent Office: 802 Days
• Field of Search: 700/245, 700/186, 700/264
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: G05B 2219/4705 Detect edge during machining, welding, sewing

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.

Claims

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.

2. The correction data checking system for robots as set forth in claim 1, wherein the path position of movement and the actual position of movement are calculated for each position taught by the teaching program.

3. The correction data checking system for robots as set forth in claim 1, wherein the system further comprises a memory unit in which the path positions of movement calculated at a plurality of predetermined timings are stored, and the comparison display unit displays the actual:

positions of movement and the path positions of movement which are stored in the memory unit in association with the actual position of movement, in comparison with each other.

4. The correction data checking system for robots as set forth in claim 1, wherein the system further comprises a device for externally indicating the actual position of movement and the path position of movement.

5. The correction data checking system for robots as set forth in claim 1, wherein the working tool is held stationary and the workpiece is moved according to the copying control technique by employing a sensor that detects the position of a work line on the workpiece or a sensor that measures the distance to the workpiece.

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:

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.

7. The correction data checking system for robots as set forth in claim 6, wherein the working tool is held stationary and the workpiece is moved according to the copying control technique by employing a sensor that detects the position of a work line on the workpiece or a sensor that measures the distance to the workpiece.