Teaching position correcting apparatus and teaching position correction method
Teaching position correcting apparatus and teaching position correction method
 CN 101,036,984 B
 Filed: 03/09/2007
 Issued: 05/15/2013
 Est. Priority Date: 03/13/2006
 Status: Active Grant
First Claim
1. teaching position correcting apparatus, it is revised a plurality of taught points position in the operation program of robot, has:
 When described robot is moved to a plurality of taught points each, obtain the current location of the described robot in each of this a plurality of taught points, when thus a plurality of taught points position in 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 positions and the correction corresponding with these revised taught points positions, when carrying out the correction of one or more taught points at every turn, taught point evolution before calculating will be revised is that revised taught point is the position, correction matrix that have composition in rotary moving and parallel composition, perhaps in the time that described correction matrix can not be calculated, calculate the correction matrix computing unit that the correction matrix that only has the parallel composition replaces;
According to the correction matrix that is calculated by described correction matrix computing unit, position calculation unit after the correction that the position after the still correction of uncorrected not correcting taught point position in described a plurality of taught points is calculated;
AndWhen described robot is moved to described not correcting taught point, described robot is moved to the mobile unit of the position after the correction of the described not correcting taught point position of being calculated by position calculation unit after described correction.
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.
9 Claims

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

When described robot is moved to a plurality of taught points each, obtain the current location of the described robot in each of this a plurality of taught points, when thus a plurality of taught points position in 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 positions and the correction corresponding with these revised taught points positions, when carrying out the correction of one or more taught points at every turn, taught point evolution before calculating will be revised is that revised taught point is the position, correction matrix that have composition in rotary moving and parallel composition, perhaps in the time that described correction matrix can not be calculated, calculate the correction matrix computing unit that the correction matrix that only has the parallel composition replaces; According to the correction matrix that is calculated by described correction matrix computing unit, position calculation unit after the correction that the position after the still correction of uncorrected not correcting taught point position in described a plurality of taught points is calculated;
AndWhen described robot is moved to described not correcting taught point, described robot is moved to the mobile unit of the position after the correction of the described not correcting taught point position of being calculated by position calculation unit after described correction.


2. teaching position correcting apparatus according to claim 1, is characterized in that,
The operation program of described robot 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 the relative position relation between described robot and workpiece changes, carry out the correction of described taught point position after the relative position relation between described robot and described workpiece has occured to change.

4. teaching position correcting apparatus according to claim 1, is characterized in that,
Described not correcting taught point position, be present in comprise described correction after in the identical operation program of the operation program of taught point position.

5. teaching position correcting apparatus according to claim 1, is characterized in that,
Described not correcting taught point position, be present in from comprise described correction after in the different operation program of the operation program of taught point position.

6. teaching position correcting apparatus according to claim 1, is characterized in that,
Further according to described correction matrix, a plurality of taught points position in other operation programs is unified to revise.

7. the described teaching position correcting apparatus of any one according to claim 1 to 5, is characterized in that,
The teaching operation dish that also has described robot, By described teaching operation dish, carry out the calculating of the position after the correction of described not correcting taught point position of position calculation unit after the calculating of described correction matrix of described correction matrix computing unit and described correction.

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

When described robot is moved to a plurality of taught points each, obtain the current location of the described robot in each of this a plurality of taught points, when thus a plurality of taught points position in described operation program being revised, According to the taught point position before corrected revised taught point position in described a plurality of taught points positions and the correction corresponding with these revised taught points positions, when carrying out the correction of one or more taught points at every turn, taught point evolution before calculating will be revised is that amended taught point is the position, correction matrix that have composition in rotary moving and parallel composition, perhaps in the time can not calculating described correction matrix, calculate the correction matrix that only has the parallel composition and replace; According to described correction matrix, calculate in described a plurality of taught points the position after the correction of uncorrected not correcting taught point position still, and When described robot is moved to described not correcting taught point, described robot 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,
Further according to described correction matrix, a plurality of taught points position in other operation programs is unified to revise.
Specification(s)