TEACHING SYSTEM AND TEACHING METHOD

• Main Author: KUWABARA KOICHI
• Format: Patent
• Language: English; Japanese
• Published: 23.04.2015
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; COUNTING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a teaching system and a teaching method which facilitates the teaching for surface processing.SOLUTION: A teaching system according to an embodiment includes an image producing part, a projection part, an operation line producing part, a calculation part (teaching value calculation part) and a job producing part. The image producing part produces a virtual image which contains a robot and a work having a plane to be worked as a working object of the robot. The projection part, with respect to an arbitrary one point of the plane to be worked selected on the virtual image, produces a projection surface vertical to a direction perpendicular to the plane of the one point and the plane to be worked is projected to the projection surface. The operation line producing part produces an operation line as a target point group of the robot on the basis of preset contents received via the projection surface. The calculation part calculates teaching values containing a position and an attitude of the robot on each point of the target points. The job producing part produces an actual job program which operates the robot on the basis of the teaching value calculated by the calculation part. 【課題】面加工に対するティーチングを容易に行うこと。【解決手段】実施形態の一態様に係るティーチングシステムは、画像生成部と、投影部と、作業線生成部と、演算部（教示値演算部）と、ジョブ生成部とを備える。上記画像生成部は、ロボットおよびこのロボットの加工対象である被加工面を有するワークを含む仮想画像を生成する。上記投影部は、上記仮想画像上で選択された上記被加工面の任意の一点につき、この一点の面直方向に直交する投影面を生成し、この投影面へ上記被加工面を投影する。上記作業線生成部は、上記投影面を介して受け付けた設定内容に基づき、上記ロボットの目標点群である作業線を生成する。上記演算部は、上記目標点の各点における上記ロボットの位置および姿勢を含む教示値を演算する。上記ジョブ生成部は、上記演算部によって演算された上記教示値に基づいて実際の上記ロボットを動作させるジョブプログラムを生成する。【選択図】図２