JPH09179619A - Method for setting up locus of coating robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To connect teaching positions and to simply obtain a locus including also posture on respective teaching positions. SOLUTION: At the time of setting up the moving locus of a coating gun in a spray coating robot for a work constituted of an free curved surface of a rugged shape, a geometric shape model W for the work which is obtained from a CAD system is cut off on an optional plane PL to generate a 1st curve A. Then the 1st curve A is divided by a prescribed distance and the model W is cut off by another plane PLi passing each divided position, including a normal Ni on the position and intersecting with the plane PL to generate a 2nd curve Bi. A teaching position is generated at a prescribed position of the 2nd curve Bi and teaching posture is generated in the normal (Ti) direction of the prescribed position. An operation locus is generated from the obtained teaching position and posture and a set operation rule. Consequently a locus connecting teaching positions including posture can be automatically generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory setting method of a coating robot for setting a trajectory of a coating head of a spray coating robot for a work formed of a free curved surface having an uneven shape.

[0002]

2. Description of the Related Art In order to teach an industrial robot about its work, a teacher carries a teaching box into the robot's movement range, moves a robot arm to a work position, and visually confirms the work position. A general method is to judge whether or not the position is a desired position and perform teaching. However, in this method, the robot must be taught for a long period of time to stop the production, which has a large economical problem, and long time work in a dangerous place for the teacher is physically difficult. It will be a heavy burden both mentally and mentally.

For this reason, off-line teaching methods have become popular in recent years. This builds a geometric model of the robot and its working environment on a computer independent of the controller of the robot, displays a positional relationship similar to the real environment on a graphic display based on these data, and the teacher can By designating the position on the display and operating the virtual robot on the computer, the teaching data of the robot is created. However, even in this case, the teacher needs to specify the work position and the route of the robot one by one, which is a very complicated and time-consuming work.

Therefore, if the teacher interactively inputs a command at the object instruction level while looking at the geometric model of the work displayed on the graphic display, an offline teaching for automatically generating a program consisting of motion command strings is provided. Japanese Unexamined Patent Publication No. 1-248203 discloses a robot teaching device that generates teaching data by calculating robot variables while inputting robot trajectory data into CAD data of a workpiece, particularly regarding a painting robot. This is disclosed in Japanese Patent Laid-Open No. 3-286208, in which the teacher does not need to input the position and route in detail.

[0005]

By the way, when setting the locus of movement of the coating head of the spray coating robot for a workpiece constituted by a free-form surface having an uneven shape, smooth spraying work from the vertical direction of the surface to be coated is highly required. While it is the basis for ensuring quality, in the above-mentioned conventional example, the position / orientation of each teaching position is set, and then the locus connecting the teaching position and the teaching position is set. The teaching process requires a long time in order to set continuous constant velocity spraying operations.

Further, since a work such as pottery shrinks due to drying and firing, the designed product model, the original model for the casting mold, and the model for spraying the glaze after drying have different shapes, It is necessary to perform deformation work such as enlargement / reduction of the work. In such a case, it is necessary to set a smooth trajectory even for a discontinuous surface due to enlargement / reduction of a plurality of surfaces.

It is also conceivable to measure the actual work by image processing or the like to set the locus of the robot, but this method requires a long time for the processing, and the cycle time and the equipment cost are inevitably increased. The present invention has been made in view of the above circumstances, and an object thereof is to connect a teaching position and easily obtain a trajectory including a posture at each teaching position. To provide.

[0008]

SUMMARY OF THE INVENTION According to the present invention, however, a work obtained from a CAD system is used to set a moving locus of a gun for painting of a spray painting robot with respect to a work constituted by a free-form surface having an uneven shape. Generate a first curve by cutting the geometric model of
Then, the first curve is divided by a predetermined distance, the geometric model is cut by another plane that passes through each division position and includes a normal line at that position and intersects with the plane to generate the second curve. Then, a teaching position is generated at a predetermined position of the second curve, a teaching posture is generated in the normal direction at the predetermined position, and a motion locus is calculated based on the obtained teaching position and posture and the set motion rule. It has a feature in generating. It is possible to automatically generate a trajectory connecting the teaching positions including the teaching posture.

It is preferable to use a geometrical shape model of the work to be cut, which has been subjected to expansion / contraction deformation correction. When the work is pottery, the geometrical shape model of the work to be cut is the work piece. It is preferable to use the one obtained by performing the expansion correction when creating the original model from the design shape model and the reduction correction when creating the post-drying model from the casting model.

In the correction of enlargement / reduction, each surface is divided with the boundary where the curvature change of the surface of the work is a predetermined value or more as a boundary, a unique name is added to each set of surfaces, and the enlargement / reduction is performed for each set. It is recommended to correct the deformation. In addition, the reference point when performing deformation correction of enlargement / reduction on the geometric model of the workpiece is the jig surface where the workpiece is installed as the height direction reference, and the center of the surface with respect to the coating robot is the left and right direction and the front-back direction. It is desirable to use the standard.

When a gap occurs between adjacent surfaces due to enlargement / reduction, it is advisable to create a surface surrounded by a straight line connecting the end points of the surfaces and a ridgeline of the surface to complement the gap. If there are intersections with each other, it is advisable to delete the end of the above-mentioned surface with the line of intersection as the boundary. When there is a gap and an intersection between adjacent surfaces, create a surface surrounded by a straight line connecting the endpoints and the ridge line divided at the intersection in the gap to complement the gap, and make the intersection line at the intersection. The edge of the surface may be deleted at the boundary.

Then, for a portion where the curvature change of the curve obtained by cutting is less than a predetermined value, it may be approximately corrected by a straight line connecting both ends of the section. If adjacent cutting curves intersect, you can delete the end curve that is divided at the intersection.If the adjacent cutting curves intersect and the part is convex, the cutting curve A straight line passing through the end point of the cutting curve from the above predetermined position may be substituted. When there is a gap between the end points of adjacent cutting curves, it is preferable to complement the gap with a straight line or a predetermined arc connecting the end points.

Regarding the point of moving at a constant speed on the locus, a predetermined circle is created at the end point of the cutting curve, and then the procedure of creating a predetermined circle centered on the intersection of the circle and the cutting curve is repeated. , Can be performed by setting each intersection as a teaching position. When the end point of the cutting curve and the final predetermined circle do not intersect, the intersection of the straight line passing through the center of the final predetermined circle and the center of the previous predetermined circle and the final predetermined circle is set as the teaching position, or the predetermined position immediately before the final predetermined circle is set. The linear distance between the center of the circle and the end point of the cutting curve may be calculated, and the operation speed of the robot in the section may be changed. For a section in which the change in curvature of the cutting curve is larger than a predetermined value, it is advisable to find an intersection point with a circle smaller than the reference predetermined circle by a predetermined radius and use this intersection point as the teaching position.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION An example of an embodiment of the present invention will be described. FIG. 2 shows an entire system related to painting, including a CAD system 1, a robot simulation system 2, a personal computer 3, a robot controller 4, and It is composed of a coating pot 5. A gun 6 for spraying is attached to the tip of the robot 5, and the work 7 is sprayed.

FIG. 3 shows a production process of a ceramic product.
First, the product is designed, and based on the design model M1, the original model M2 and the mold 10 are created in anticipation of shrinkage in the drying and firing steps. Next, cast molding is performed by the mold 10 to obtain a molded product M3. The molded product M3 is dried and sprayed with a glaze, and then a product is obtained through a firing process. The completed product (molded product M3 ′) is compared with the design shape M1, and the process of correcting the original model M2 is repeated several times to create the mold 10 used for actual production. Robot 5
Performs the glaze spraying work in the above process.

The function and processing flow of the above system will be described with reference to FIGS. In CAD system 1,
The geometrical shape model defining means defines a three-dimensional geometrical shape model of the finished product (step Sl), and the geometrical model deforming means divides the geometrical model into enlargement units based on the enlargement information in consideration of the reduction (step S2). Is transformed into the original model (step S3), and the model is transferred to the robot simulation system 2.

In the robot simulation system 2 for performing the CAM processing, the geometric model deforming means divides the original model into units for contraction based on the information on contraction due to drying (step S4), and creates a model for spraying after drying. Deform (step S5). Next, the surface intersection / gap interpreting means extracts and organizes the intersections and gaps between the divided surfaces generated by contracting the blowing model (step S6). Next, based on the information defined in the motion data setting means for setting the motion data as a rule and the interpretation result, the robot is operated by the target command by the operator in the work date command means in the teaching position / posture / trajectory generating means. Is generated (steps S7 and S8).

Next, in the means for simulating the operation of the robot, the means for evaluating the offline teaching, and the means for correcting the offline teaching from the evaluation result, the motion data setting means corrects the rule setting based on the correction result. Furthermore, the language conversion means converts the simulation language created by offline teaching into a robot language.

The personal computer 3 has means for converting the robot program into data which can be interpreted by the robot controller 4, and transfers the converted data to the robot controller 4. The robot controller 4 operates the robot 5 based on the above data to perform the spraying work. Explaining how to set the trajectory of the painting robot in the robot simulation system,
As shown in FIG. 1, first, a geometrical shape model W of a workpiece obtained from CAD is placed on a plane PL at a predetermined position orthogonal to the installation surface J.
Cut at to generate curve A. Then, the curve A is divided by a predetermined distance, and each normal vector Ni at the division position is divided.
A plane PLi (i = 1, 2, 3,) that includes (i = 1, 2, 3, ...) And intersects the plane PL at a predetermined angle.
The geometric model W is cut at (3, ...) And the curves Bi (i = 1, 2, 3, ...) Are created at each division position. Next, the teaching position and orientation of the robot are generated from the predetermined position on the curve Bi and the normal vector Ti at that position. Further, the teaching posture is adjusted according to the set motion rule, and the trajectory of the coating robot is set according to the set motion rule and the teaching position / posture. In order to set the posture at each teaching position based on the normal vector Ti, it is possible to reliably perform smooth spraying work from the vertical direction of the surface to be painted, which is the basis for ensuring high quality. Can be

By the way, in the coating robot for spraying the glaze, since the object is the pottery after drying and before firing, it is necessary to correct the geometrical shape model of the work as described above. . In this case, FIG.
As shown in, the curvature of the surface of the work W (normal vector Nl,
It is preferable to add a unique name to each set of faces with the change of N2) being a predetermined value or more as a boundary, and to enlarge / reduce in that unit. The reference point for enlargement / reduction is as shown in FIG. In addition, it is preferable that the jig surface J on which the work W is installed is used as the reference surface in the height direction Z, and the center of the surface with respect to the coating robot is used as the reference in the left-right direction X and the front-back direction Y.

When the deformation correction of enlargement / reduction is performed as described above, a gap or an intersection may occur between the surfaces of the geometric model of the work. Good. That is, as shown in FIG.
When there is a gap between the adjacent surfaces Sl and S2, a straight line L connecting the end points Pl and P2 of the surface Sl and the end points P3 and P4 of the surface S2.
The gap is complemented by creating a surface S3 surrounded by l, L2, the ridgeline Cl of the surface Sl, and the ridgeline C2 of the surface S2.

As shown in FIG. 9, the adjacent surfaces Sl, S2
If there is an intersection, the intersection line C is used as a mound, and the end surface S3 of the surface Sl is
And the end surface S4 of the surface S2 is deleted. As shown in FIG. 10, when there is a gap and an intersection between the adjacent surfaces Sl and S2, the gap is complemented and the intersection is deleted. That is, in the gap, a straight line L connecting the end point P2 of the surface Sl and the end point P3 of the surface S2 and the surface S3 surrounded by the ridge line Cl of the surface Sl and the ridge line C2 of the surface S2 divided at the intersection point Pl are created and complemented. At the intersection, the end surface S4 of the surface Sl and the end surface S5 of the surface S2 are deleted at the intersection C.

A curve created by cutting the geometrical model W on a plane for setting the locus may also need to be corrected. In this case, the following may be done. That is,
As shown in FIG. 11, when the change in the curvature of the curve C is less than or equal to a predetermined value, the straight line L connecting the end points Pl and P2 is set as a curve for setting the teaching position / posture and the locus of the robot. Further, as shown in FIG. 12, when the curves Cl and C2 intersect, the intersection point P
The end curve C3 of the curve Cl and the end curve C4 of the curve C2, which are divided into the mounds, are deleted, and the remaining portion is the teaching position of the robot.
A curve that sets the posture and trajectory. In the case where the curves Cl and C2 intersect with each other and have a convex shape, the deletion is not performed, but the predetermined position Pl of the curve Cl and the end point P4 of the curve C2 are connected as shown in FIG. The straight line Ll, the straight line L3 connecting the end point P4 of the curve C2 and the end point P2 of the curve Cl, the end point P2 of the curve Cl, and the curve C
The straight line L2 connecting the two predetermined positions P3 may be a curve for setting the teaching position / orientation and the trajectory of the robot. As shown in FIG. 14, when there is a gap between the end points P1 and P2 of the curves Cl and C2, the straight line L connecting the end point Pl of the curve Cl and the end point P2 of the curve C2 is complemented, or the end point of the curve Cl is A predetermined arc A including Pl and the end point P2 of the curve C2 is complemented to form a continuous curve that sets the teaching position / orientation and trajectory of the robot.

The robot 5 follows the locus connecting the teaching positions.
The spraying work is performed by moving the gun 6 described above, but in order to make the speed at which the gun 6 moves along the trajectory uniform, the following processing is performed to teach a minute predetermined time. Determine the position. As shown in FIG. 15, when the curve C is a locus, a predetermined circle El is created at the end point Pl thereof, and then a circle E2 having an intersection P2 between the circle El and the curve C as a center is created. Repeatedly repeats the specified circle Ei
(I = 1, 2, 3, ..., N) is created, and the teaching position is set at the intersection point Pi. When causing the gun 6 to move so as to position the gun 6 at the intersection Pi at every minute predetermined time, the gun 6 moves at a constant speed. Spray velocity V in the robot teaching position section = (radial distance of circle Ei) /
(Predetermined time).

As shown in FIG. 16, when the end point P of the curve C and the final predetermined circle En for creating the teaching position do not intersect, a straight line L passing through the center of the circle En and the center of the circle En-1 is the circle En.
The point Pn that intersects with is the teaching position, or as shown in FIG. 17, the straight line distance D between the center of the circle En-1 and the end point P of the curve C is calculated, and the blowing velocity V '= of the robot in the section is calculated. It may be (linear distance D) / (predetermined time).

For a section in which the change in curvature of the curve C is larger than a predetermined value, as shown in FIG. 18, an intersection is obtained with a circle ei having a predetermined radius smaller than the reference predetermined circle Ei to obtain a teaching position, and the robot is sprayed in the section. The speed may be V '= (radial distance of circle ei) / (predetermined time).

[0027]

As described above, according to the present invention, it is possible to connect the teaching positions and easily obtain the trajectory including the posture at each teaching position, and particularly to indicate the final day mark of the work. By doing so, the teaching position / orientation and the trajectory of the robot are automatically generated in a short time from the information obtained from the geometric data and the operation rule including the know-how of the skilled worker. It is possible to mass-produce high quality products.

If a geometrical shape model of a work to be cut is subjected to deformation correction of enlargement / reduction, it can be applied to a work whose size is changed in the course of production. When the geometrical shape model of the work to be used is one that has undergone enlargement correction when creating the original model from the design shape model of the work and reduction correction when creating the model after drying from the cast molding model, the work is pottery. It can also be applied in cases.

In the correction of enlargement / reduction, each surface is divided with the boundary where the curvature change of the surface of the work is equal to or more than a predetermined value as a boundary, a unique name is added to each set of surfaces, and the enlargement / reduction is performed in the set unit. If the deformation correction is performed, the enlargement / reduction error can be reduced, and as a result, the coating quality can be improved. In addition, as a reference point when performing deformation correction of expansion and contraction on the geometric model of the work, the jig surface on which the work is installed is used as the height direction reference, and the center of the surface with respect to the coating robot is set in the left and right direction and the front and rear direction. If used as a reference, the error in enlargement / reduction can be reduced and the coating quality can be improved.

When a gap is generated between the adjacent faces due to the enlargement / reduction, a face surrounded by a straight line connecting the end points of the faces and the ridgeline of the face is created to complement the gap, or the adjacent faces are adjacent to each other. When there are intersections with each other, deleting the end of the above-mentioned surface with the intersection line as the boundary makes it possible to obtain a smooth work, thereby improving the coating quality. Of course, if there are gaps and intersections between adjacent faces, in the gaps, create a face surrounded by the straight line connecting the end points and the ridge line divided at the intersections to complement the gaps, and at the intersections, Even if the end of the surface is deleted with the line as the boundary, the work can be made smooth and the coating quality can be improved.

For a portion where the change in curvature of the curve obtained by cutting is equal to or less than a predetermined value, the posture at that portion can be made constant by approximate correction with a straight line connecting both ends of the section. , Easy to control. When adjacent cutting curves intersect, deleting the end curve that is divided at the intersection can reduce the error at the intersection point, and the adjacent cutting curves intersect and that part is convex. In the case of the shape, if a straight line passing from the predetermined position on the cutting curve to the end point of the cutting curve is used as an alternative, the intersection can be made smooth and the interference between the work and the painting robot can be avoided.

If there is a gap between the end points of adjacent cutting curves, the gap can be reduced by supplementing the gap with a straight line or a predetermined arc connecting the end points. Further, a predetermined circle is created at the end point of the cutting curve, and then the procedure of creating a predetermined circle centered on the intersection of the circle and the cutting curve is repeated. Can be moved easily and with high accuracy, and the coating quality can be improved.

When the end point of the cutting curve and the final predetermined circle do not intersect, when the intersection of the straight line passing through the center of the final predetermined circle and the center of the previous predetermined circle and the final predetermined circle is the teaching position,
The error in the teaching position can be reduced. Further, by changing the operation speed of the robot in the section by calculating the straight line distance between the center of the predetermined circle immediately before the final predetermined circle and the end point of the cutting curve, the coating quality near the end point can be improved. .

In the section where the change in curvature of the cutting curve is larger than a predetermined value, it is preferable to find an intersection point with a circle smaller than the reference predetermined circle by a predetermined radius and use this intersection point as the teaching position. Where the curvature changes are large, high-precision teaching is performed to improve coating quality.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of the method of the present invention.

FIG. 2 is a schematic diagram of the entire system.

FIG. 3 is an explanatory diagram of a flow of production of pottery.

FIG. 4 is a schematic block diagram of the entire system.

FIG. 5 is an operation flowchart of the entire system.

FIG. 6 is an explanatory diagram of correction of deformation of a geometric model.

FIG. 7 is another explanatory diagram of the above.

FIG. 8 is an explanatory diagram of an example of correction.

FIG. 9 is an explanatory diagram of another example of correction.

FIG. 10 is an explanatory diagram of another example of correction.

FIG. 11 is an explanatory diagram of an example of correction of a cutting curve.

FIG. 12 is an explanatory diagram of another example of correction of a cutting curve.

FIG. 13 is an explanatory diagram of another example of correcting a cutting curve.

FIG. 14 is an explanatory diagram of yet another example of correcting a cutting curve.

FIG. 15 is an explanatory diagram of teaching position setting for moving at a constant speed.

FIG. 16 is an explanatory diagram of another teaching position setting.

FIG. 17 is an explanatory diagram of another teaching position setting.

FIG. 18 is an explanatory diagram of still another teaching position setting.

[Explanation of symbols]

 PL plane PLi plane A First curve Bi Second curve Ni normal vector Ti normal vector

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[Procedure amendment]

[Submission date] January 23, 1996

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0014

[Correction method] Change

[Correction contents]

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION An example of an embodiment of the present invention will be described. FIG. 2 shows an entire system related to painting, including a CAD system 1, a robot simulation system 2, a personal computer 3, a robot controller 4, and It is composed of a painting robot 5. A gun 6 for spraying is attached to the tip of the robot 5, and the work 7 is sprayed.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0017

[Correction method] Change

[Correction contents]

In the robot simulation system 2 for performing the CAM processing, the geometric model deforming means divides the original model into units for contraction based on the information on contraction due to drying (step S4), and creates a model for spraying after drying. Deform (step S5). Next, the surface intersection / gap interpreting means extracts and organizes the intersections and gaps between the divided surfaces generated by contracting the blowing model (step S6). Next, based on the information defined in the motion data setting means for setting motion data as a rule and the interpretation result, the teaching position / orientation / trajectory generating means uses the target command from the operator in the work target command means to set the robot A spraying operation is generated (steps S7 and S8).

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

As shown in FIG. 9, the adjacent surfaces Sl, S2
If there is an intersection, the end surface S3 of the surface Sl with the intersection line C as the boundary
And the end surface S4 of the surface S2 is deleted. As shown in FIG. 10, when there is a gap and an intersection between the adjacent surfaces Sl and S2, the gap is complemented and the intersection is deleted. That is, in the gap, a straight line L connecting the end point P2 of the surface Sl and the end point P3 of the surface S2 and the surface S3 surrounded by the ridge line Cl of the surface Sl and the ridge line C2 of the surface S2 divided at the intersection point Pl are created and complemented. At the intersection, the end surface S4 of the surface Sl and the end surface S5 of the surface S2 are deleted at the intersection C.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0023

[Correction method] Change

[Correction contents]

A curve created by cutting the geometrical model W on a plane for setting the locus may also need to be corrected. In this case, the following may be done. That is,
As shown in FIG. 11, when the change in the curvature of the curve C is less than or equal to a predetermined value, the straight line L connecting the end points Pl and P2 is set as a curve for setting the teaching position / posture and the locus of the robot. Further, as shown in FIG. 12, when the curves Cl and C2 intersect, the intersection point P
The end curve C3 of the curve Cl and the end curve C4 of the curve C2, which are divided at the boundary , are deleted, and the remaining portion is the teaching position of the robot.
A curve that sets the posture and trajectory. In the case where the curves Cl and C2 intersect with each other and have a convex shape, the deletion is not performed, but the predetermined position Pl of the curve Cl and the end point P4 of the curve C2 are connected as shown in FIG. The straight line Ll, the straight line L3 connecting the end point P4 of the curve C2 and the end point P2 of the curve Cl, the end point P2 of the curve Cl, and the curve C
The straight line L2 connecting the two predetermined positions P3 may be a curve for setting the teaching position / orientation and the trajectory of the robot. As shown in FIG. 14, when there is a gap between the end points P1 and P2 of the curves Cl and C2, the straight line L connecting the end point Pl of the curve Cl and the end point P2 of the curve C2 is complemented, or the end point of the curve Cl is A predetermined arc A including Pl and the end point P2 of the curve C2 is complemented to form a continuous curve that sets the teaching position / orientation and trajectory of the robot.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0027

[Correction method] Change

[Correction contents]

[0027]

In the present invention as described above, according to the present invention, which can be obtained posture inclusive trajectory at each teaching position with connecting the teaching position convenient, especially the last day of work
By instructing the target , the teaching position / orientation and the trajectory of the robot are automatically generated in a short time from the information obtained from the geometric data and the operation rules including the know-how of the skilled worker. It is possible to mass produce high quality products.

Claims (16)

[Claims] 1. A geometric model of a work obtained from a CAD system is cut on an arbitrary plane in setting a movement locus of a gun for painting of a spray painting robot for a work composed of a free-form surface having an uneven shape. To generate a first curve, and then divide the first curve by a predetermined distance to pass through each division position and to include the normal line at that position and to intersect with the plane, the geometric shape model Is cut to generate a second curve, a teaching position is generated at a predetermined position of the second curve, and a teaching posture is generated in the normal direction at the predetermined position. A trajectory setting method for a coating robot, wherein a trajectory is generated according to a set motion rule. 2. The trajectory setting method for a coating robot according to claim 1, wherein a geometrical shape model of a workpiece to be cut is a geometrically shaped model that has undergone expansion / contraction deformation correction. 3. When the work is pottery, the geometric shape model of the work to be cut is enlarged and corrected when the original shape model is created from the design shape model of the work and is reduced when the post-drying model is created from the cast molding model. 3. The corrected image is used.
How to set the trajectory of the painting robot described. 4. When the enlargement / reduction is corrected, each surface is divided at a boundary where the curvature change of the surface of the work is equal to or more than a predetermined value, a unique name is added to each set of surfaces, and the expansion is performed for each set. The trajectory setting method of the coating robot according to claim 2 or 3, wherein deformation correction of reduction is performed. 5. The jig surface on which the work is installed is used as a height direction reference, and the center of the surface with respect to the coating robot is used as the left and right direction as a reference point when the geometrical shape model of the work is corrected for expansion and contraction. The trajectory setting method of the coating robot according to claim 2 or 3, wherein the trajectory is set as a reference in the front-back direction. 6. The method according to claim 2, wherein when there is a gap between adjacent faces, a face surrounded by a straight line connecting end points of the faces and a ridgeline of the face is created to complement the gap.
How to set the trajectory of the painting robot described. 7. The trajectory setting method for a coating robot according to claim 2, wherein when the adjacent surfaces intersect each other, the end of the surface is deleted with the intersection line as a boundary. 8. When a gap intersects with adjacent surfaces, a face surrounded by a straight line connecting the end points and a ridge line divided at the intersection is created in the gap portion to complement the gap, and the intersection portion. 4. The method for setting the locus of the coating robot according to claim 2, wherein the end portion of the surface is deleted with the intersection line as a boundary. 9. The coating according to claim 1, 2 or 3, wherein a portion of the curve obtained by cutting that has a change in curvature of a predetermined value or less is approximately corrected by a straight line connecting both ends of the section. Robot trajectory setting method. 10. The trajectory setting method of the coating robot according to claim 1, wherein when the adjacent cutting curves intersect, the end curve divided at the intersection is deleted. 11. A straight line that passes through an end point of a cutting curve from a predetermined position on the cutting curve is substituted when adjacent cutting curves intersect and the part has a convex shape. The trajectory setting method of the painting robot described in 2 or 3. 12. The method according to claim 1, wherein when there is a gap between the end points of adjacent cutting curves, the gap is complemented by a straight line or a predetermined arc connecting the end points.
How to set the trajectory of the painting robot described. 13. A teaching method is characterized in that a predetermined circle is created at an end point of a cutting curve, and then a procedure of creating a predetermined circle centered on an intersection of the circle and the cutting curve is repeated to set each intersection as a teaching position. The trajectory setting method of the coating robot according to claim 1, 2 or 3. 14. When the end point of the cutting curve and the final predetermined circle do not intersect, the intersection of the straight line passing through the center of the final predetermined circle and the center of the previous predetermined circle and the final predetermined circle is set as the teaching position. 14. The method for setting a trajectory of a painting robot according to claim 13. 15. When the end point of the cutting curve and the final predetermined circle do not intersect, the linear distance between the center of the predetermined circle immediately before the final predetermined circle and the end point of the cutting curve is calculated, and the operation speed of the robot in the section is calculated. 14. The trajectory setting method of the coating robot according to claim 13, wherein 16. The teaching point according to claim 13, wherein, in a section where the change in curvature of the cutting curve is larger than a predetermined value, an intersection point is obtained with a circle smaller than the reference predetermined circle by a predetermined radius, and the intersection point is set as a teaching position. How to set the trajectory of a painting robot.