Teaching position correcting apparatus and teaching position correction method
Teaching position correcting apparatus and teaching position correction method
 CN 101,036,984 A
 Filed: 03/09/2007
 Published: 09/19/2007
 Est. Priority Date: 03/13/2006
 Status: Active Grant
First Claim
1. a teaching position correcting apparatus (1), it is revised a plurality of taught points position in the operation program of robot (2), has:
 When described robot (2) is moved to a plurality of taught points each, obtain the current location of the described robot (2) in each of this a plurality of taught points, when thus a plurality of taught points position in the described operation program being revised,According to the taught point position before the revised taught point position revised in described a plurality of taught points position and the correction corresponding, calculate position correction amount computing unit (11a) with respect to the position correction amount (A) of the taught point position before the described correction with these revised taught point positions;
According to the position correction amount of calculating by described position correction amount computing unit (11a) (A), position calculation unit (11b) after the correction that the position after the correction of still uncorrected not correcting taught point position in described a plurality of taught points is calculated;
AndWhen described robot (2) being moved to described not correcting taught point, described robot (2) is moved to mobile unit (15) by the position after the described correction of proofreading and correct the described not correcting taught point position that back position calculation unit (11b) calculated.
Chinese PRB Reexamination
Abstract
A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a correctedposition calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.

7 Citations
control device and machine learning device  
Patent #
CN 109,002,012 A
Filed 06/05/2018

Current Assignee

Sheet metal part rapid development system based on precision control  
Patent #
CN 105,867,308 A
Filed 01/24/2015

Current Assignee

Interference avoiding device  
Patent #
CN 104,923,886 A
Filed 03/13/2015

Current Assignee

Robot shoe adhesive spraying system and track teaching method thereof  
Patent #
CN 106,313,059 A
Filed 09/30/2016

Current Assignee

A kind of method of robot Automaticsearching bending position  
Patent #
CN 107,297,399 A
Filed 08/08/2017

Current Assignee

Action surplus of robot calculation display method and device  
Patent #
CN 101,546,196 A
Filed 03/20/2009

Current Assignee

Robot controller and robot control method  
Patent #
CN 107,443,389 A
Filed 05/15/2017

Current Assignee

No References
9 Claims

1. a teaching position correcting apparatus (1), it is revised a plurality of taught points position in the operation program of robot (2), has:

When described robot (2) is moved to a plurality of taught points each, obtain the current location of the described robot (2) in each of this a plurality of taught points, when thus a plurality of taught points position in the described operation program being revised, According to the taught point position before the revised taught point position revised in described a plurality of taught points position and the correction corresponding, calculate position correction amount computing unit (11a) with respect to the position correction amount (A) of the taught point position before the described correction with these revised taught point positions; According to the position correction amount of calculating by described position correction amount computing unit (11a) (A), position calculation unit (11b) after the correction that the position after the correction of still uncorrected not correcting taught point position in described a plurality of taught points is calculated;
AndWhen described robot (2) being moved to described not correcting taught point, described robot (2) is moved to mobile unit (15) by the position after the described correction of proofreading and correct the described not correcting taught point position that back position calculation unit (11b) calculated.


2. teaching position correcting apparatus according to claim 1 is characterized in that,
The operation program of described robot (2) is generated by the offline procedure design apparatus.

3. teaching position correcting apparatus according to claim 1 is characterized in that,
Generate described operation program before relative position relation between described robot (2) and described workpiece changes, carry out the correction of described taught point position after the relative position relation between described robot (2) and described workpiece has taken place to change.

4. teaching position correcting apparatus according to claim 1 is characterized in that,
Described not correcting taught point position is present in the operation program identical with the operation program that comprises taught point position, described correction back.

5. teaching position correcting apparatus according to claim 1 is characterized in that,
Described not correcting taught point position is present in the operation program different with the operation program that comprises taught point position, described correction back.

6. teaching position correcting apparatus according to claim 1 is characterized in that,
Described position correction amount computing unit (11a) when carrying out the correction of one or more taught points, recomputates described position correction amount (A) at every turn.

7. according to any described teaching position correcting apparatus in the claim 1 to 6, it is characterized in that,
The teaching operation dish that also has described robot (2), By described teaching operation dish, carry out the calculating of the position after the correction of the calculating of described position correction amount (A) of described position correction amount computing unit (11a) and described described not correcting taught point position of proofreading and correct back position calculation unit (11b).

8. teaching position correcting method is used for a plurality of taught points position of the operation program of robot (2) is revised, and this teaching position correcting method comprises following steps:

When described robot (2) is moved to a plurality of taught points each, obtain the current location of the described robot (2) in each of this a plurality of taught points, when thus a plurality of taught points position in the described operation program being revised, According to the taught point position before corrected revised taught point position in described a plurality of taught points position and the correction corresponding, calculate position correction amount (A) with respect to the taught point position before the described correction with these revised taught point positions; According to described position correction amount (A), calculate the position after the correction of still uncorrected not correcting taught point position in described a plurality of taught point, and When described robot (2) being moved to described not correcting taught point, described robot (2) is moved to the position after the correction of described not correcting taught point position.


9. teaching position correcting method according to claim 8 is characterized in that,
When carrying out the correction of one or more taught points, recomputate described position correction amount (A) at every turn.
Specification(s)