Robot program adjusting system

• US 8,340,821 B2
• Filed: 07/18/2008
• Issued: 12/25/2012
• Est. Priority Date: 08/10/2007
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Ito, Takayuki, Nagatsuka, Yoshiharu
• Primary Examiner(s): Tran, Dalena
• Assistant Examiner(s): Sample, Jonathan L
• Application Number:
  US12/175,569
• Publication Number:
  US 20090043425A1
• Time in Patent Office: 1,621 Days
• Field of Search: None
• US Class Current: 700/256
• 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 2219/37342 Overload of motor, tool
• CPC Class Codes: G05B 2219/40387 Modify without repeating teaching operation
• CPC Class Codes: G05B 2219/40461 Plan for even distribution of motor load of joints

Abstract

A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.

Claims

1. A robot program adjusting system, executed by a computer, for adjusting an operating program of a robot arm having a plurality of axes, the robot program adjusting system comprising:

an overload identifying device for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes;

an additional operation generating device for generating an additional operation for an axis positioned at a base end side from the axis identified by the overload identifying device when it is judged that the identified axis is positioned at the front end side of the robot arm and for an axis positioned at a front end side from the identified axis when it is judged that the identified axis is positioned at the base end side of the robot arm to lighten the load of said identified axis,

wherein if the load at the identified axis is not reduced after generating the additional operation for the axis positioned at a base end side from the identified axis or the additional operation for the axis positioned at a front end side from the identified axis, the additional operation generating device further generates an additional operation for an axis which is not the identified axis, the axis positioned at a base end side from the identified axis nor the axis positioned at a front end side from the identified axis by a predetermined fine amount; and

a program adjusting device for adjusting the operating program of said robot arm by simulation based on the additional operation generated by said additional operation generating device.

2. A robot program adjusting system as set forth in claim 1, wherein said axis other than the identified axis is positioned at a front end side of said robot arm from said identified axis.

3. A robot program adjusting system as set forth in claim 1, wherein said axis other than the identified axis is positioned at the base end side of said robot arm from said identified axis.

4. A robot program adjusting system as set forth in claim 1, wherein when two or more of said additional operations are generated, at least two of these additional operations are combined.

5. A robot program adjusting system as set forth in claim 2, wherein said additional operation includes making an axis positioned at a front end side of said robot arm from said identified axis move so that the center of gravity of the workpiece gripped by a hand of said robot arm is positioned on an extension of the center of rotation or movement direction of the identified axis.

6. A robot program adjusting system as set forth in claim 3, wherein said additional operation includes making an axis positioned at a front end side of said robot arm from said identified axis move so that a horizontal direction distance between a center of rotation or a movement direction of an axis of a base end side of said robot arm from said identified axis and a center of gravity of a workpiece gripped by a hand of said robot arm becomes the minimum.

7. A robot program adjusting system as set forth in claim 1, wherein said additional operation generating device includes an interference checking device for checking if said robot arm interferes with peripheral equipment based on the additional operation.

8. A robot program adjusting system as set forth in claim 2, wherein when two or more of said additional operations are generated, at least two of these additional operations are combined.

9. A robot program adjusting system as set forth in claim 3, wherein when two or more of said additional operations are generated, at least two of these additional operations are combined.