JP2010231518A - Robot teaching system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot teaching system capable of shortening a period of time necessary for the teaching operation of a robot. <P>SOLUTION: The robot teaching system 10 includes: a robot 11; a robot controller 12; a tool 13; and a control unit 20. The control unit 20 includes: a drawing data reading unit 21 for reading drawing data 25 of a workpiece W; an input unit 22 for input of location region information 36; and a pattern accumulation unit 38 for accumulating a plurality of graphic route patterns 37 in advance. A passage location setter 24 sets the passage location of a robot 11 based on graphic data 25, location region information 36 and a graphic route pattern 37. A program creation unit 31 creates a movement program 32, and the movement program 32 is transmitted to a robot controller 12 by an output unit 33. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot teaching system that teaches (teaches) a robot that performs a machining operation on a workpiece, and more particularly to a robot teaching system that can reduce the time required for the robot teaching operation.

  In general, when a robot performs operations such as soldering and screw tightening, a tool corresponding to each operation is previously attached to the tip of the robot, and then each operation position is taught to the robot. In this case, it is necessary to manually operate the robot to perform positioning, and to teach each working position to the robot one by one.

  Thus, it takes time to teach the robot. For this reason, in order to shorten the time required for the teaching operation of the robot, it is required to perform the teaching operation offline (offline teaching) without actually operating the robot.

  There is also a system for performing such offline teaching. However, in the conventional offline teaching system, it is necessary to set the teaching position one by one, so that it is difficult to efficiently create a robot program. For example, when a robot performs a soldering operation, the soldering portions are often arranged in a straight line shape, a square shape, or an arc shape. However, conventionally, it is necessary to designate them one by one, and it takes time for teaching work.

Japanese Patent Laid-Open No. 11-188778

  The present invention has been made in consideration of such points, and by accumulating a figure route pattern and a registered coordinate pattern that are frequently used in advance in the pattern storage unit, the time required for the teaching operation of the robot is reduced. An object of the present invention is to provide a robot teaching system that can be shortened.

  The present invention relates to a robot teaching system for teaching a robot that performs a machining operation on a workpiece, a robot, a robot controller connected to the robot, a tool attached to the robot, and a robot controller connected to the robot controller. A control unit that controls a drawing data reading unit that reads drawing data to be processed, an input unit that inputs position region information that specifies a region including a plurality of passage positions of the robot, Based on the pattern storage unit that stores the figure root pattern of the drawing, the drawing data read by the drawing data reading unit, the position area information input by the input unit, and the figure route pattern from the pattern storage unit A passing position setting unit for setting the passing position of the robot and a robot set by the passing position setting unit. Based on the passing position, a robot teaching system comprising: the program creation unit that creates a movement program of the robot, and an output unit for transmitting the movement program created by the program creation unit to the robot controller.

  The robot teaching system according to the present invention is characterized in that the figure route pattern in the pattern storage unit includes a typical pattern including a linear pattern, a rectangular pattern, or an arc-shaped pattern.

  The present invention relates to a robot teaching system for teaching a robot that performs a machining operation on a workpiece, a robot, a robot controller connected to the robot, a tool attached to the robot, and a robot controller connected to the robot controller. A control unit that controls a drawing data reading unit that reads drawing data to be processed, an input unit that inputs position region information that specifies a region including a plurality of passage positions of the robot, Based on the pattern storage unit that stores the registered coordinate pattern of the above, the drawing data read by the drawing data reading unit, the position area information input by the input unit, and the registered coordinate pattern from the pattern storage unit Of the robot set by the passing position setting unit and the passing position setting unit. Based on over position, a robot teaching system comprising: the program creation unit that creates a movement program of the robot, and an output unit for transmitting the movement program created by the program creation unit to the robot controller.

  The present invention is a robot teaching system in which a registered coordinate pattern is additionally registered by an input unit.

  The present invention is a robot teaching system in which a pattern storage unit links and stores a registered coordinate pattern and additional information related to the registered coordinate pattern.

  The present invention is the robot teaching system characterized in that the program creating unit creates a moving program based on the additional information accumulated in the pattern accumulating unit.

  The present invention is a robot teaching system further comprising a passing position editing unit that edits the passing position of the robot set by the passing position setting unit.

  The present invention is a robot teaching system in which a display unit for displaying a passing position of the robot is connected to the control unit.

  In the present invention, the input unit can input trajectory pattern information that defines the order in which the robot passes through the passing position, and the passing position setting unit can pass the robot based on the trajectory pattern information input by the input unit. A robot teaching system characterized by automatically setting the order.

  According to the present invention, since a plurality of figure route patterns and registered coordinate patterns are stored in the pattern storage unit in advance, the time required for teaching work can be shortened.

1 is an overall configuration diagram showing an embodiment of a robot teaching system according to the present invention. The figure which shows the example of a figure route pattern. The figure which shows the example of a registration coordinate pattern. The figure which shows the effect | action of one Embodiment of the robot teaching system by this invention (screen displayed on a display part). The flowchart which shows the setting method of the passage position in a passage position setting part. The figure which shows the effect | action at the time of additionally registering a registration coordinate pattern (screen displayed on a display part). The figure which shows the effect | action at the time of setting a passage position using a registration coordinate pattern (screen displayed on a display part).

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 thru | or FIG. 7 is a figure which shows one Embodiment of this invention.

(Outline of robot teaching system)
First, the outline of the robot teaching system according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the robot teaching system 10 includes a robot 11, a robot controller 12 that is connected to the robot 11 and provided with a programming pendant 15 that is used when the robot 11 is manually operated. And a tool controller 14 connected to the robot controller 12 and connected to the tool 13.

  Among these, the robot 11 is a robot that performs a machining operation on a workpiece (processing object) W, and includes, for example, an orthogonal robot, a SCARA robot, and a vertical articulated robot. Moreover, although the workpiece | work W consists of a printed circuit board, an electronic component etc., for example, if the operation | work is performed by the robot 11, it will not specifically limit.

  The tool 13 includes means for performing a predetermined operation on the workpiece W, such as a soldering tool, a screw tightening tool, a welding tool, and a painting tool. On the other hand, the tool controller 14 can control each tool 13 by a control signal from the robot controller 12.

  As shown in FIG. 1, the robot controller 12 is connected to a control unit 20 made of, for example, a computer that controls the robot controller 12. Hereinafter, the configuration of the control unit 20 will be described by taking as an example the case where the robot 11 performs soldering on the workpiece W made of a printed board.

  The control unit 20 includes a drawing data reading unit 21 that reads the drawing data 25 of the workpiece W, an input unit 22 that inputs position area information 36 that specifies an area including a plurality of passing positions of the robot 11, and a plurality of graphic routes in advance. And a pattern storage unit 38 in which a pattern 37 and a plurality of registered coordinate patterns 39 are stored.

  Among these, the figure route pattern 37 is a pattern of the shapes of a plurality of passing positions (teaching points) that the robot 11 passes when performing a machining operation on the workpiece W. Specifically, the figure route pattern 37 includes a linear pattern (FIG. 2A), a rectangular pattern (FIG. 2B), an arc-shaped pattern (FIG. 2C), and the like frequently during teaching. A typical pattern consisting of the geometric shapes used is included. 2A to 2C, the passing positions (teaching points) of the robots 11 are indicated by white circles. However, information on the coordinates and the number of these passing positions (teaching points) is not included in the information of each graphic route pattern 37 (included in the position area information 36).

  Next, the registered coordinate pattern 39 stored in the pattern storage unit 38 will be described. The registered coordinate pattern 39 is additionally registered by operating the input unit 22 by the user, and is selected by the user from among coordinate pattern shapes that are frequently used when teaching work is performed.

Each registered coordinate pattern 39 includes information on the coordinates of each passing position (teaching point). For example, in FIG. 3A, the registered coordinate pattern 39 includes _twelve passage positions S _{1 to} S ₁₂ arranged in a rectangular shape, that is, for example, the upper left point O ₁ of the rectangle is set as a reference point. Information of each coordinate (X, Y) of the passing positions S _{1 to} S ₁₂ is included.

In the pattern storage unit 38, the registered coordinate pattern 39 and additional information 40 related to the registered coordinate pattern 39 are linked and stored. For example, in FIG. 3B, the pattern storage unit 38 includes a registered coordinate pattern 39 including the passing positions S _{1 to} S ₁₂ (see FIG. 3A), and additional information 40 associated with the registered coordinate pattern 39. Is accumulated. Among these, the additional information 40 includes, for example, a registered name (for example, “rectangle 1”) related to the registered coordinate pattern 39, the type of component (for example, resistor, capacitor, diode, etc.) included in the registered coordinate pattern 39, the number of components, The size of the part, the content of the work (for example, soldering, etc.), the price of the part, the number of parts in stock, the work precautions, and the like.

  Referring back to FIG. 1, a display unit 29 for visually displaying the passing position of the robot 11 is connected to the control unit 20. As the display unit 29, conventionally known display means such as a liquid crystal monitor can be used.

  A storage unit 23 that stores drawing data 25 of the workpiece W is connected to the drawing data reading unit 21. The drawing data reading unit 21 has a function of reading the drawing data 25 from the storage unit 23 and displaying the drawing data 25 thus read on the display unit 29.

  The storage unit 23 includes a magnetic disk, floppy disk (registered trademark), hard disk, optical disk (CD-ROM, CD-R, DVD, etc.), magneto-optical disk (MO, etc.), semiconductor memory, etc. As long as it can be stored, it does not matter whether it is located inside or outside the control unit 20. Examples of the drawing data 25 include CAD data such as DXF files or CAM data such as Gerber data. Furthermore, examples of the input unit 22 include input means that can be used by the user to input the position area information 36 such as a mouse and a keyboard.

  Here, the position area information 36 input by the input unit 22 is the figure route pattern 37 or the registered coordinate pattern 39 stored in the pattern storage unit 38 in the region of the drawing data 25 in which the robot 11 performs the machining operation. Is information for designating the area to which to apply. Hereinafter, a specific example of the position area information 36 will be described.

  (1) When applying the figure route pattern 37 composed of a linear pattern (FIG. 2A), as the position area information 36, for example, the start point of a straight line, the end point of a straight line, the pitch between passing positions (teaching points), Examples include the number of passing positions, the angle of a straight line, and a point number that is not created among the passing positions.

  (2) When applying the figure route pattern 37 composed of a rectangular pattern (FIG. 2B), as the position area information 36, for example, a reference point to apply a rectangle, the position of a diagonal line of the rectangle, and the horizontal (vertical) direction The pitch between the passing positions (teaching points), the number of passing positions in the horizontal (vertical) direction, the amount by which the passing position is offset from the vertex of the rectangle, the angle at which the rectangle is tilted, and the like.

  (3) When applying the figure route pattern 37 composed of an arc-shaped pattern (FIG. 2C), as the position area information 36, for example, the center point of the circle, the radius of the circle, and the passing position (teaching point) as the starting point Angle, the number of points of the passing position, the angle pitch between the passing positions, the point number not created among the passing positions, and the like.

  (4) When the registered coordinate pattern 39 is applied (FIG. 3A), examples of the position area information 36 include a reference point to which the registered coordinate pattern 39 is applied, an angle at which the registered coordinate pattern 39 is inclined, and the like. .

  On the other hand, a passage position setting unit 24 is connected to the drawing data reading unit 21. The passing position setting unit 24 includes drawing data 25 read by the drawing data reading unit 21, position area information 36 input by the input unit 22, and a graphic route pattern 37 (or registered coordinate pattern 39 from the pattern storage unit 38. ), The passage position of the robot 11 is specifically set. That is, the passing position setting unit 24 sets the passing position and the passing order through which the robot 11 passes by associating the drawing data 25, the position area information 36, and the figure route pattern 37 (or the registered coordinate pattern 39). To do. The passing position setting unit 24 also has a function of displaying the passing position and the passing order on the display unit 29.

  In addition, a passage position editing unit 30 is connected to the passage position setting unit 24. The passing position editing unit 30 is for editing the passing position of the robot 11 set by the passing position setting unit 24. Specifically, in the passing position editing unit 30, the user can finely adjust the passing position of the robot 11 set by the passing position setting unit 24 as necessary by operating the input unit 22. It has become.

  Further, a program creation unit 31 is connected to the passage position editing unit 30. The program creation unit 31 is based on the passage position and passage order of the robot 11 set by the passage position setting unit 24 (or the passage position and passage order of the robot 11 edited by the passage position editing unit 30). The moving program 32 is created. That is, the program creation unit 31 creates a moving program 32 that passes through each passing position in a predetermined passing order based on the passing position and passing order information of the robot 11.

  Furthermore, an output unit 33 that transmits the movement program 32 created by the program creation unit 31 to the robot controller 12 is connected to the program creation unit 31.

  Next, the operation of the present embodiment having such a configuration will be described.

(Operation when using a figure route pattern)
First, the operation when the figure route pattern is used will be described with reference to FIGS. 4A to 4F and FIG. 5 by taking as an example the case where the robot 11 performs soldering on the workpiece W made of a printed board. . 4A to 4F show screens of the drawing data 25 displayed on the display unit 29. FIG. In the following, for the sake of convenience, it is assumed that the tool 13 attached to the robot 11 moves two-dimensionally along the printed board surface.

First, when the user operates the input unit 22 (for example, a mouse), the drawing data 25 of the work W is read from the storage unit 23 to the drawing data reading unit 21. The drawing data reading unit 21 displays the drawing data 25 read in this way on the display unit 29 (FIG. 4A). In the screen of the display unit 29 shown in FIG. 4A, the symbol R indicates an electronic component, and the white circles (S _{1 to} S ₄ ) indicate locations where soldering operations are performed.

Next, the user operates the input unit 22 to select the most appropriate one of the plurality of graphic route patterns 37 stored in the pattern storage unit 38. Specifically, in FIG. 4A, the passage positions (soldering work locations) S _{1 to} S ₄ of the robot 11 are arranged in a straight line. Therefore, the user selects a linear pattern (FIG. 2A) from the figure route pattern 37.

  Next, the user inputs the position area information 36 by operating the input unit 22. Subsequently, the passage position setting unit 24 reads the drawing data 25 read by the drawing data reading unit 21, the figure route pattern 37 (linear pattern) from the pattern storage unit 38, and the position area information input in this way. 36, the passing position and passing order of the robot 11 are set.

That is, when the user operates the input unit 22 (for example, right-clicks the mouse), a screen as shown in FIG. 4B is displayed. Subsequently, the user inputs a pitch (for example, 10.000 mm) between passing positions (teaching points) on the linear pattern. Alternatively, the number of passing positions on the linear pattern (for example, _four of S _{1 to} S ₄ ) is input.

Then, the user moves the pointer 35 with reference to the display unit 29, left-click the mouse at the start of the linear pattern (e.g. passing position S ₁₎ (FIG. 4 (c)). Subsequently, the pointer 35 is moved to the end position of the linear pattern (for example, the passing position S ₄ ), and the mouse is left-clicked (FIG. 4D). In this manner, the arrangement of the linear pattern and the passing position (teaching point) in the area of the drawing data 25 is determined.

  Here, with reference to FIG. 5, a flow of creating a passing position by the passing position setting unit 24 will be briefly described. First, the passage position setting unit 24 determines whether designation using the figure route pattern 37 has been made (step S01). When this is denied (NO), the mode shifts to a manual mode in which the user designates the passing position one by one (step S05), but the description thereof is omitted in this specification. On the other hand, if this is affirmed (YES), the passage position setting unit 24 prompts the user to input the position area information 36 (for example, the display unit 29 displays the screen shown in FIG. 4B). Next, the position area information 36 is input by the input unit 22 (step S02). Next, the passing position setting unit 24 determines whether or not the input position area information 36 is necessary and sufficient (step S03). When this is denied (NO), the process returns to step S02. On the other hand, when this is affirmed (YES), the passing position setting unit 24 sets the passing position of the robot 11 (step S04).

  Next, the user operates the input unit 22 to input trajectory pattern information that defines the passing order in which the robot 11 passes the passing position. Subsequently, the passing position setting unit 24 automatically sets the passing order of the robot 11 based on the trajectory pattern information input by the input unit 22.

That is, when the user operates the input unit 22 (for example, by left clicking the mouse), a screen as shown in FIG. 4E is displayed. Subsequently, the user selects the most appropriate one of the trajectory patterns displayed on the screen of the display unit 29 as the order in which the robot 11 passes through each of the passing positions S _{1 to} S ₄ .

In FIG. 4E, a plurality of trajectory patterns P _{1 to} P ₄ are displayed. Of these, the trajectory pattern P ₁ generates a trajectory “starting from the upper left and moving in one direction from left to right”. Similarly, the trajectory pattern P ₂ generates a trajectory “starting from the upper left and reciprocating in the left-right direction”, and the trajectory pattern P ₃ “starting from the upper left and moving in one direction from the top to the bottom”. A trajectory is generated, and the trajectory pattern P ₄ generates a trajectory “starting from the upper left and reciprocating up and down”. Although not shown here, many other trajectory patterns are prepared.

Here, when the user selects, for example, the trajectory pattern P ₁ (“starts from the upper left and moves in one direction from left to right”), the passage position setting unit 24, based on the trajectory pattern information, ( 1) The passing order of the robot 11 is automatically set in the order of S ₁ , (2) S ₂ , (3) S ₃ , (4) S ₄ . The passage position setting unit 24 displays the passage position and the passage order of the robot 11 on the display unit 29 (see the circled numbers and the arrows between the circled numbers in FIG. 4F).

  However, the present invention is not limited to this, and the order of passage of the robot 11 may be set manually by the user operating the input unit 22 (for example, by left clicking the mouse).

  Subsequently, the passage position editing unit 30 edits the passage position of the robot 11 set by the passage position setting unit 24. That is, when the user operates the input unit 22, the passing position of the robot 11 set by the passing position setting unit 24 is edited as necessary. For example, the passing position (X direction, Y direction, Z direction) of the robot 11 can be finely adjusted, or the speed of the robot 11 can be adjusted.

Subsequently, the program creation unit 31 determines the robot 11 based on the passage position and passage order of the robot 11 set by the passage position setting unit 24 (and the passage position of the robot 11 edited by the passage position editing unit 30). The moving program 32 is created. The movement program 32 is described in a language format that can be directly read by the robot controller 12. That is, the program creation unit 31 creates a movement program 32 in which the robot 11 linearly moves in the order of the passing positions S ₁ , S ₂ , S ₃ , S ₄ (see FIG. 4 (f)).

  After the movement program 32 is completed, the output unit 33 transmits the created movement program 32 to the robot controller 12.

  In this way, the teaching work of the robot 11 can be completed off-line without the user manually operating the programming pendant 15. After the off-line teaching work is completed, the robot controller 12 operates the robot 11 according to the movement program 32.

(Operation when using registered coordinate pattern)
Next, the operation when the registered coordinate pattern 39 is used will be described with reference to FIGS. 6 (a) to 6 (c) and FIGS. 7 (a) to 7 (c). Here, FIGS. 6A to 6C and FIGS. 7A to 7C show screens of the drawing data 25 displayed on the display unit 29. FIG.

  First, steps for additionally registering the registered coordinate pattern 39 using the input unit 22 will be described.

  First, when the user operates the input unit 22 (for example, a mouse), the drawing data 25 of the workpiece W is read from the storage unit 23 to the drawing data reading unit 21 (FIG. 6A). In FIG. 6 (a), as in FIG. 4 (a), symbol R indicates an electronic component, and white circles indicate locations where soldering operations are performed.

Next, the user operates the input unit 22, to specify the passage position (a taught point) S ₅ to S ₁₀ to be registered in the registration coordinate pattern 39 (Figure 6 (b)). 6 (b), a by specified range using the input unit 22 (e.g. a mouse), the passage position (a taught point) is specified S ₅ to S _10. However, the present invention is not limited to this, and the passing positions (teaching points) S _{5 to} S ₁₀ may be designated one by one using the input unit 22.

Subsequently, the user (right-click for example mouse) operating the input unit 22 that a, a screen for registering the designated passing position S ₅ to S ₁₀ Registered coordinate pattern 39 (FIG. 6 ( c)). At this time, a reference point O ₂ to which the registered coordinate pattern 39 is applied is set. Next, the user uses this screen to input additional information 40, whereby registration of the registered coordinate pattern 39 is completed.

  Next, an operation when the movement program 32 is created using the registered coordinate pattern 39 registered in this way will be described. The basic operation is substantially the same as that already described with reference to FIGS. 4A to 4F and FIG.

  First, the drawing data 25 of the workpiece W is read into the drawing data reading unit 21 (FIG. 7A). Here, in the drawing data 25 shown in FIG. 7A, the position where the soldering operation is performed is the same as the position shown in FIG.

  Next, the user operates the input unit 22 to select a specific registered coordinate pattern 39 (FIG. 6B) from among the plurality of registered coordinate patterns 39 stored in the pattern storage unit 38. Here, when selecting the registered coordinate pattern 39, the additional information 40 linked to the registered coordinate pattern 39 can be referred to, so that the selection of the registered coordinate pattern 39 can proceed smoothly.

Next, the user inputs the position area information 36 by operating the input unit 22. That is, the user moves the pointer 35 while referring to the display unit 29 and designates the position of the reference point O ₂ to which the registered coordinate pattern 39 is applied (FIG. 7B). Further, by operating the input unit 22 (for example, by right-clicking the mouse), the registered coordinate pattern 39 is superimposed on the drawing data 25 (the hatched circle in FIG. 7C).

At this time, the passing position setting unit 24 sets the passing positions S _{5 to} S ₁₀ of the robot 11 based on the drawing data 25, the registered coordinate pattern 39, and the position area information 36 (the position of the reference point O ₂ ). . Subsequently, the order of passage of the robot 11 is set, and this point has already been described.

  Thereafter, the program creation unit 31 creates a movement program 32 for the robot 11 based on the passage position and passage order of the robot 11 set by the passage position setting unit 24.

  At this time, the program creation unit 31 may create the movement program 32 based on the additional information 40 stored in the pattern storage unit 38 by linking to the registered coordinate pattern 39.

For example, when the work content stored in the additional information 40 is “soldering”, the program creation unit 31 uses the passing positions S _{5 to} S ₁₀ when the robot 11 reaches the passing positions S _{5 to} S ₁₀ . A processing work program for performing a processing work (that is, soldering) can be created and included in the movement program 32.

An example of the machining work program is as follows. That is, first, when the robot 11 reaches the passing positions S _{5 to} S ₁₀ , the robot 11 approaches the workpiece W and temporarily stops in this state. Next, a control signal is transmitted from the robot controller 12 to the tool controller 14. As a result, the tool 13 performs a predetermined processing operation (soldering) on the workpiece W, while the robot 11 is on standby. After the machining operation (soldering) is completed, a signal is transmitted from the tool controller 14 to the robot controller 12, and upon receiving this signal, the robot 11 moves away from the workpiece W and proceeds toward the next passing position. To do.

  As described above, according to the present embodiment, the robot 11 can perform teaching work on the workpiece W based on the drawing data 25 without manually operating the robot 11. In particular, since a plurality of figure route patterns 37 (or registered coordinate patterns 39) are stored in the pattern storage unit 38 in advance, the time required for teaching work can be shortened.

  Further, according to the present embodiment, the figure route pattern 37 includes a typical pattern that is generally used frequently, such as a linear pattern, a rectangular pattern, or an arc-shaped pattern. Furthermore, a registered coordinate pattern 39 that is frequently used for a specific user additionally registered by the input unit 22 is stored in the pattern storage unit 38. As a result, it is not necessary to designate the passing positions (teaching points) one by one, and the teaching work time can be shortened.

Furthermore, according to the present embodiment, the passing position setting unit 24 automatically sets the passing order of the robot 11 based on the trajectory pattern information (for example, the trajectory patterns P _{1 to} P ₄ ) input by the input unit 22. Therefore, the teaching work time can be shortened.

  Furthermore, according to the present embodiment, the program creation unit 31 can create the movement program 32 based on the additional information 40 stored in the pattern storage unit 38. The operation burden can be reduced.

DESCRIPTION OF SYMBOLS 10 Robot teaching system 11 Robot 12 Robot controller 13 Tool 14 Tool controller 15 Programming pendant 20 Control part 21 Drawing data reading part 22 Input part 23 Storage part 24 Passing position setting part 25 Drawing data 29 Display part 30 Passing position edit part 31 Program creation Section 32 Movement program 33 Output section 35 Pointer 36 Position area information 37 Graphic route pattern 38 Pattern storage section 39 Registered coordinate pattern 40 Additional information

Claims (9)

In a robot teaching system for teaching a robot that performs a processing operation on a processing target,
With robots,
A robot controller connected to the robot;
A tool attached to the robot,
A controller connected to the robot controller and controlling the robot controller;
The control unit
A drawing data reading section for reading drawing data to be processed;
An input unit for inputting position area information for designating an area including a plurality of passing positions of the robot;
A pattern storage unit that stores a plurality of figure route patterns in advance;
A passing position setting unit that sets the passing position of the robot based on the drawing data read by the drawing data reading unit, the position area information input by the input unit, and the figure route pattern from the pattern storage unit;
A program creation unit for creating a robot movement program based on the passage position of the robot set by the passage position setting unit;
A robot teaching system, comprising: an output unit that transmits the movement program created by the program creation unit to the robot controller.   2. The robot teaching system according to claim 1, wherein the figure route pattern in the pattern storage unit includes a typical pattern including a linear pattern, a rectangular pattern, or an arc-shaped pattern. In a robot teaching system for teaching a robot that performs a processing operation on a processing target,
With robots,
A robot controller connected to the robot;
A tool attached to the robot,
A controller connected to the robot controller and controlling the robot controller;
The control unit
A drawing data reading section for reading drawing data to be processed;
An input unit for inputting position area information for designating an area including a plurality of passing positions of the robot;
A pattern storage unit that stores a plurality of registered coordinate patterns in advance;
A passing position setting unit that sets the passing position of the robot based on the drawing data read by the drawing data reading unit, the position area information input by the input unit, and the registered coordinate pattern from the pattern storage unit;
A program creation unit for creating a robot movement program based on the passage position of the robot set by the passage position setting unit;
A robot teaching system, comprising: an output unit that transmits the movement program created by the program creation unit to the robot controller.   4. The robot teaching system according to claim 3, wherein the registered coordinate pattern is additionally registered by an input unit.   5. The robot teaching system according to claim 3, wherein the pattern storage unit links and stores the registered coordinate pattern and additional information related to the registered coordinate pattern.   6. The robot teaching system according to claim 5, wherein the program creation unit creates a movement program based on the additional information accumulated in the pattern accumulation unit.   The robot teaching system according to any one of claims 1 to 6, further comprising a passing position editing unit that edits the passing position of the robot set by the passing position setting unit.   The robot teaching system according to any one of claims 1 to 7, wherein a display unit for displaying a passing position of the robot is connected to the control unit.   The input unit can input trajectory pattern information that defines the order in which the robot passes through the passing position, and the passing position setting unit automatically sets the passing order of the robot based on the trajectory pattern information input by the input unit. The robot teaching system according to claim 1, wherein the robot teaching system is set as follows.

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