JPH09244723A - Teaching data generation method for industrial robot, teaching data generation device for industrial robot and industrial robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely polish surfaces by generating candidate paths constituted of curve lines obtained by dividing the designated curve surfaces, selecting a work path among them, generating work points based on the path and generating teaching data and the program of the track of a robot based on the points. SOLUTION: The candidate paths 44a-44d, 45a-45d and 46a-46d are generated on the designated curve surfaces 42a-42c based on CAD data. Then, a CAM device generates polishing paths 47a and 47b from the paths 44b and 44c designated from the candidate paths 44a-44d on a polishing start face 42a and the buses 45b, 45d, 46b and 46d on the other designated curve surfaces 42b and 42c connected to the paths 44b and 44c. The polishing points are generated based on a designated polishing condition for the polishing paths 47a and 47b. Teaching point data and the program of the polishing robot are generated based on the generated polishing point. Thus, the polishing remainder is eliminated and therefore polishing can precisely be executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching data creating method for an industrial robot, a teaching data creating method for an industrial robot, and an industrial robot system.

[0002]

2. Description of the Related Art Conventionally, in a mold polishing process, a polishing robot is used because the processing accuracy of the surface of the mold greatly affects the quality of the mold. The polishing robot
The polishing tool is controlled so as to move along a previously created polishing trajectory. The polishing locus is created based on CAD data that is design data of the mold. CAD
The data consists of multiple curved surfaces that make up the surface of the mold,
Polishing trajectories are created within these curved surfaces.

To create the polishing locus, for example, FIG.
There are methods shown in (a) and (b). In this method, polishing loci 72a to 72d are created for each of the curved surfaces 71a to 71d. The polishing robot is controlled on the basis of the created polishing trajectories 72a to 72d to polish the mold.

In addition, in order to create the polishing locus, FIG.
There is a creating method shown in (d). In this method, a plurality of (four in FIG. 11A) curved surfaces 71a to 71d are divided into surfaces 71a to 71d at predetermined intervals, and point sequence data 73 is obtained.
Convert to Based on the converted point sequence data 73,
As shown in FIG. 11C, a single curved surface 74 made of a spline curved surface is created. And this single curved surface 74
A polishing locus 75 is created inside.

[0005]

However, in the method of creating the polishing loci 72a-72d for each curved surface 71a-71d, each polishing locus 72a-72d is independent, in other words, each curved surface 71a-71d. The polishing path is divided for each. Therefore, the curved surfaces 71a to 71
There is a problem in that the continuity at the boundary of d, so-called surface and bead, etc. is poor, and the polishing quality of the mold is degraded. Also, each curved surface 7
Since the polishing loci 72a to 72d are created for each of 1a to 71d, there is a problem that it is difficult to control the polishing robot and the polishing efficiency is deteriorated.

Further, in the method of creating a polishing locus in a single curved surface 74, an error occurs between the curved surface 74 formed of spline curved surfaces and the original curved surfaces 71a to 71d. In particular, as shown in FIG. 12, in the ridge line portion having a large curvature, the error generated between the original curved surface 76 shown by the solid line and the spline curved surface 77 shown by the alternate long and short dash line becomes large. As a result, the polishing robot has a problem that the shape of the mold is destroyed because the polishing robot is excessively dented in or an unetched portion is left.

It is an object of the present invention to provide a teaching data creating method and teaching data creating apparatus for an industrial robot capable of precisely polishing a surface formed by a plurality of continuous curved surfaces. Another object of the present invention is to provide an industrial robot system capable of accurately polishing a surface composed of a plurality of continuous curved surfaces.

[0008]

In order to solve the above problems, the invention according to claim 1 provides teaching data of work performed by an industrial robot on a workpiece and teaching data of an industrial robot for creating a program. A creation method, which creates curved surface data of the workpiece based on the design data of the workpiece, designates a plurality of curved surfaces from the curved surface data, and comprises a curve obtained by dividing each designated curved surface. A candidate path is created, a work path is selected from the created multiple paths, a work point is generated for the selected work path based on points on the path, and a robot is created based on the work point. The gist is that the teaching data and the program of the locus are created.

According to a second aspect of the present invention, in the teaching data creating method for an industrial robot according to the first aspect, the plurality of curved surfaces are curved surfaces of a ridge line portion of a work, and the candidate paths are arranged in a ridge line direction. The point is that it was created along with it.

[0010] The invention described in claim 3 is the invention according to claim 1 or 2.
In the teaching data creation method of the industrial robot according to, in the plurality of designated curved surfaces, the first designated curved surface is used as a starting surface, and when a polishing path is selected, a candidate path created on the starting surface is selected. Select a plurality of, select a path that leads to the selected candidate path from the plurality of candidate paths created on other curved surfaces for the selected candidate path, and polish path based on those selected candidate paths The gist is to create.

According to a fourth aspect of the present invention, there is provided a teaching data creating apparatus for an industrial robot, which creates teaching data and a program for work performed by an industrial robot on a work, based on the design data of the work. , Curved surface data of the workpiece, curved surface designation means for designating a plurality of curved surfaces from the curved surface data, and a plurality of candidate paths for dividing the curved surfaces on the designated curved surfaces. Among the candidate path creating means to be created and the candidate paths created by the candidate path creating means, a plurality of paths are selected from a plurality of candidate paths created on one curved surface and created on another curved surface. Path selecting means for selecting a candidate path that is connected to the selected candidate path from the candidate paths, and selecting a path based on the candidate paths; For the path selected by the path selection means, point generation means for generating a plurality of points on the path, and based on the points generated by the point generation means, teaching data and a program for the robot are generated. The gist is that a program creating means is provided.

According to a fifth aspect of the present invention, in the teaching data creating apparatus for an industrial robot according to the fourth aspect, the curved surface designating means selects a curved surface designated first from a plurality of designated curved surfaces. As a start surface, the path selection means selects a plurality of paths from among the candidate paths created on the start surface, and a candidate that is connected to the selected candidate path from the candidate paths created on other curved surfaces. The gist is that a path is selected and the path is selected based on the candidate paths.

The invention according to claim 6 is the invention according to claim 4 or 5.
In the teaching data creation device for an industrial robot described in (1), a candidate path generation condition input means for inputting a condition for generating the candidate path, and a condition input means for inputting a condition for generating the point are provided. The gist is that the candidate path generation means creates a candidate path that divides a plurality of curved surfaces based on respective input conditions, and the point generation means creates a plurality of points based on the input conditions. .

According to a seventh aspect of the present invention, an industry based on the teaching data creating apparatus according to any one of the fourth to sixth aspects and the teaching data and the program created by the teaching data creating apparatus are used. The gist of the present invention is to have a controller for controlling the mobile robot.

Therefore, according to the invention described in claim 1,
The curved surface data of the work is created based on the design data of the work. A plurality of curved surfaces are specified from the curved surface data, and a candidate path composed of curves obtained by dividing the specified curved surfaces is created. A work path is selected from the created plurality of paths, and a work point is generated for the selected work path based on points on the path. Then, the teaching data of the robot trajectory and the program are created based on the work points.

According to the second aspect of the present invention, the plurality of curved surfaces are curved surfaces of the ridge line portion of the work, and the candidate paths are created along the ridge line direction. According to the invention of claim 3, of the plurality of designated curved surfaces, the curved surface designated first is used as the start surface, and when the polishing path is selected, the candidate path created on the start surface is selected. A plurality of selected paths are selected, and a path that leads to the selected candidate path is selected from the plurality of candidate paths created on another curved surface. Then, a polishing path is created based on the selected candidate paths.

According to the fourth aspect of the invention, the curved surface designating means creates the curved surface data of the workpiece based on the design data of the workpiece, and designates a plurality of curved surfaces from the curved surface data. . The candidate path creating means creates a plurality of candidate paths on the designated plurality of curved surfaces, each of the curved surfaces being divided. Among the candidate paths created by the candidate path creating means, the path selecting means selects a plurality of paths from the plurality of candidate paths created on one curved surface, and among the candidate paths created on other curved surfaces. The candidate paths that are connected to the candidate path selected from are selected, and the paths are selected based on those candidate paths. The point creating means creates a plurality of points on the path selected by the path selecting means, and creates robot teaching data and a program based on the created points.

According to the fifth aspect of the present invention, the curved surface designated by the curved surface designating means is the first designated curved surface among the plurality of designated curved surfaces. Multiple paths are selected from the candidate paths created on that start surface, and candidate paths that are connected to the candidate path selected from among the candidate paths created on other curved surfaces are selected. A path is selected based on

According to the invention described in claim 6, there are provided a candidate path generation condition input means for inputting a condition for generating a candidate path and a condition input means for inputting a condition for creating a point, The candidate path generation means creates a candidate path that divides a plurality of curved surfaces based on the respective input conditions, and the point generation means creates a plurality of points based on the input conditions.

According to the seventh aspect of the invention, the teaching data creating device and the controller are provided, and the industrial robot is controlled based on the teaching data and the program created by the teaching data creating device.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a schematic perspective view of a polishing robot system 11. The polishing robot system 11 includes a CAD device 12, a CAM device 13, a controller 14, and a polishing robot 15. Surface plate 1 arranged on the side of the polishing robot 15
A die 17 as a work is placed on 6 and fixed by a jig (not shown).

The CAD device 12 is used to design the mold 17. CAD data created by the CAD device 12 as design data for the mold 17 is transmitted to the CAM device 13. The CAM device 13 is a polishing robot 1.
The program is used to create a program for driving and controlling the device 5, and the program is created based on the CAD data created by the CAD device 12.

As shown in FIG. 4, the CAD data is composed of data on a plurality of curved surfaces 41 for forming the surface of the mold 17. The CAM device 13 creates a polishing locus for polishing each curved surface 41 based on the inputted CAD data. Based on the polishing locus, the CAM device 13 creates teaching point data of the polishing robot 15 and a program. Then, the CAM device 13 transmits the created teaching point data and program to the controller 14.

The controller 14 is used to drive and control the polishing robot 15. As shown in FIG. 1, the polishing robot 15 is provided with a bed 21, a column 22, a cross rail 23, an arm 24, and a turning shaft portion 25. The bed 21 is installed laterally of the surface plate 16 so as to extend horizontally. Column 22 in bed 21
Is erected so as to be horizontally movable along the bed 21. A cross rail 23 is attached to the column 22 so as to be vertically movable along the column 22.

An arm 24 is supported on the cross rail 23 so as to be horizontally movable along the cross rail 23. The moving direction of the arm 24 is set to the direction orthogonal to the moving direction of the column 22. Therefore, the polishing robot 15 forms three linear motion axes orthogonal to the bed 21 by the column 22, the cross rail 23, and the arm 24.

A swivel shaft portion 25 is provided on the lower surface of the tip of the arm 24. The turning shaft portion 25 is composed of a turning arm 26 and a spindle head 27. The revolving arm 26 is horizontally rotatably supported on the lower surface of the tip of the arm 24. A spindle head 27 is vertically rotatably supported at the lower end of the revolving arm 26. Therefore, the swivel shaft portion 25 includes the swivel arm 26 and the spindle head 27.
The two axes of rotation are constituted by.

The spindle head 27 has a polishing tool 28.
Is attached. The attitude of the polishing tool 28 is controlled so that the rotation axis of the polishing tool 28 is perpendicular to the machining surface of the mold 17 at the teaching point by the controller 14 controlling each axis of the polishing robot 15. Further, the polishing tool 28 is
The pressing unit presses the processed surface of the mold 17 with a predetermined pressing force. The polishing tool 28 is rotationally driven by a motor to polish the surface of the die 17.

The controller 14 drives and controls each axis of the polishing robot 15 based on the teaching point data and the program received from the CAM device 13 to control the attitude of the polishing tool 28 attached to the tip thereof. The polishing tool 28 is moved along the polishing locus. By the movement of the polishing tool 28, the polishing robot 15 polishes the surface of the die 17 fixed on the surface plate 16.

FIG. 2 is a schematic block diagram of the polishing robot system 11. Polishing robot system 11 is CA
It comprises a D device 12, a CAM device 13, a controller 14, and a polishing robot 15. A CAM device 13 is connected to the CAD device 12. The CAD device 12 transfers the CAD data of the mold 17 to the CAM device 13 in the form of data in a predetermined format. In the present embodiment, the CAD device 12 is a general IGES (Init
ial Graphic Exchange Specification) format data is to be transferred.

Based on the CAD data input from the CAD device 12, the CAM device 13 executes teaching data creation processing according to the flowchart shown in FIG. 3, and creates teaching point data and a program for the polishing robot 15. Then, the CAM device 13 transfers the created teaching point data and program to the controller 14.

As shown in FIG. 2, the controller 14 is connected with first to fifth motors 31 to 35 and a spindle motor 36. First to third motors 31 to 3
3 is a linear motion 3-axis, that is, a column 22 and a cross rail 2
3, the fourth and fifth motors 34 and 35 are used to move the arm 24.
It is used to rotate.

That is, the controller 14 uses the first motor 3
1 is driven and controlled to horizontally move the column 22, the second motor 32 is driven and controlled to vertically move the cross rail 23, and the third motor 33 is driven and controlled to horizontally move the arm 24. Further, the controller 14 controls the fourth motor 34
Drive control is performed to horizontally rotate the revolving arm 26, and drive control of the fifth motor 35 is performed to vertically rotate the spindle head 27.

Then, the controller 14 drives and controls the first to fifth motors 31 to 35 based on the teaching point data and the program transferred from the CAM device 13, and the polishing tool 28 attached to the spindle head 27. Control your posture. Further, the controller 14 drives and controls the spindle motor 36 to rotate the polishing tool 28, and at the same time, moves the polishing tool 28 along a teaching point to polish the die 17.

Next, according to the flow chart of FIG. 3, C
The teaching data creation process of the AM device 13 will be described in detail. CAM
IGES format CAD data is transferred to and stored in the device 13 from the CAD device 12. CAM device 13
When the teaching data creation processing program is started based on the operator's operation, each processing in steps (hereinafter, simply referred to as S) 1 to S7 is executed, and teaching point data is based on the CAD data. And create a program.

S1 is a curved surface designating means. First, CA
Based on the stored CAD data, the M device 13 creates data of the curved surface 41 forming the mold 17, as shown in FIG. Then, the CAM device 13 displays the created curved surface 41 on the display, and waits for designation of the curved surface for which the polishing locus is created.

The curved surface 41 displayed on this display
By this, the operator can easily confirm the shape of the curved surface 41 of the ridge portion where the polishing locus is to be created. Further, the operator can easily designate only the curved surface 41 that needs to be created by designating the plurality of curved surfaces 41 to be the target with a pointing device such as a mouse.

For example, as shown in FIG. 4, a plurality of curved surfaces 41 (three in FIG. 4) at the ridge portion are designated. When a plurality of curved surfaces 41 are designated, the CAM device 13 performs processing on the designated curved surfaces 41. In order to distinguish the three designated curved surfaces 41 from the other curved surfaces 41, the designated curved surfaces 41 will be referred to as designated curved surfaces 42a to 42c hereinafter. Further, among the designated curved surfaces 42a to 42c, when the designated curved surface 42a designated first is distinguished from the other designated curved surfaces 42b and 42c, the designated curved surface 42a is referred to as a polishing start surface 42a. Then, the CAM device 13 moves from S1 to S2.

S2 is a candidate path generation condition input means, and the CAM device 13 waits for input of a condition for generating a candidate path that is a candidate for a polishing trajectory created on each of the designated curved surfaces 42a to 42c. As this condition, the direction of creating the candidate path and the number of divisions of the designated curved surfaces 42a to 42c for creating the candidate path are input. The designated curved surfaces 42a to 42c and the curved surface 41 are expressed in the UV space, and arrows 43a and 43b indicating the respective directions of the UV space on the polishing start surface 42a are displayed on the screen.

Then, the operator is allowed to use the arrow 43a or the arrow 4
By designating 3b, the "U" direction or the "V" direction is designated. For example, in FIG. 4, in order to create a polishing locus along the ridge direction, the operator designates the "U" direction by pointing the arrow 43a. The CAM device 13 stores the designated "U" direction. Then, when the condition is input, the CAM device 13 moves from S2 to S3.

S3 is a candidate path creating means for CAM
The device 13 uses the designated curved surfaces 42a-4a designated in S1.
A curve obtained by dividing the designated curved surfaces 42a to 42c on the designated curved surfaces 42a to 42c based on the condition input in S2 for each 2c along the direction orthogonal to the designated direction by the input division number. A candidate path consisting of And
The CAM device 13 displays the created candidate path on the display.

For example, when the "U" direction and the division number "5" are input as the conditions for creating the candidate paths in S2, the CAM device 13 causes the designated curved surfaces 42a to 42c to be input as shown in FIG. "U" for each specified curved surface 42a-42c
Twelve candidate paths 44a to 44 (4 for each designated curved surface 42a to 42c) divided in the “V” direction orthogonal to the direction.
d, 45a to 45d, 46a to 46d are created and displayed. When the creation / display of candidate paths is completed, the CAM device 1
3 shifts from S3 to S4.

S4 is a path selecting means, and the CAM device 13 uses the candidate path 4 created on the polishing start surface 42a.
Waiting for designation of 4a to 44d. The operator is S3
At, an arbitrary candidate path is specified from the candidate paths 44a to 44d on the created and displayed polishing start surface 42a. By designating this candidate path, it is possible to easily create a polishing locus in accordance with the operator's intention, that is, corresponding to each designated curved surface 42a to 42c of the ridge portion having a large curvature.

The CAM device 13 uses the designated candidate paths 44a-44d of the polishing start surface 42a to designate candidate paths 45a-45d, 46a- of the other designated curved surfaces 42b, 42c.
46d is selected to determine the polishing pass. At this time, CA
The M device 13 automatically selects, from the candidate paths 45a to 45d and 46a to 46d of the other designated curved surfaces 42b and 42c, the paths that are connected to the designated candidate paths 44a to 44d.

For example, when candidate paths 44b and 44d are designated on the polishing start surface 42a in FIG. 5, CA
The M device 13 selects the candidate path 45 that connects to the specified candidate paths 44b and 44d on the specified curved surface 42b.
Select b and 45d. Then, the CAM device 13 selects the candidate paths 45b, 45 selected on the designated curved surface 42c.
The candidate paths 46b and 46d that are connected to d are selected.

Then, as shown in FIG. 6, the CAM device 1
In No. 3, the candidate paths 44b, 45b and 46b selected on the designated curved surfaces 42a to 42c are determined as one polishing path 47a, and the candidate paths 44d, 45d and 46d are determined as one polishing path 47b. In addition, the CAM device 13
Determines the order of the polishing paths 47a and 47b based on the order of the designated candidate paths 44b and 44d with respect to the determined polishing paths 47a and 47b. In FIG. 5, when the candidate path 44b is designated first and then the candidate path 44d is designated, the polishing path 47a including the candidate path 44b designated first is the first path, and the candidate path 4 designated next.
The polishing pass 47b including 4d is the second pass. And
When the polishing pass selection process is completed, the CAM device 13 returns to S
Move from S4 to S5.

S5 is a polishing condition input means, which is CA
The M device 13 uses each polishing pass 47 determined in S4.
For a and 47b, the input of polishing conditions for generating polishing points is awaited. This polishing condition is composed of the tool diameter of the polishing tool 28 to be used, the number of rotations, the pressing force, the feed rate, etc., and is input by the user. And
When the polishing condition is input, the CAM device 13 moves from S5 to S
Go to 6.

S6 is a polishing point creating means, and C
Based on the polishing conditions input in S5, the AM device 13 determines the polishing paths 47a and 47b as shown in FIG.
Determine the start and end points at. At this time, CAM
The device 13 sets the start point and the end point to each polishing pass 47a, 4
7b, it is set at a position offset by half the tool diameter of the polishing tool 28 used from the end points of the polishing paths 47a, 47b. In addition, the CAM device 13 sets the start point and the end point in opposite directions with respect to the path immediately before that path after the second path.

For example, as shown in FIG. 7, the CAM device 1
3 determines the start point 48a on the polishing start surface 42a for the polishing pass 47a which is the first pass, and specifies the designated curved surface 4a.
At 2c, determine end point 49a. Then, the CAM device 13 determines the start point 48b on the designated curved surface 42c and the end point 49b on the polishing start surface 42a for the polishing pass 47b that is the second pass. By thus determining the start points 48a and 48b and the end points 49a and 49b, the determined end point of each pass and the start point of the next pass are close to each other, and the movement distance of the polishing tool 28 is shortened. It will be possible to efficiently perform the polishing process.

The CAM device 13 also displays a tool circle 50 indicating the tool diameter of the polishing tool 28 to be used at the determined start points 48a, 48b and end points 49a, 49b.

Further, the CAM device 13 uses each polishing pass 47.
In a and 47b, a plurality of intermediate points 51 are created between the start point 48a and the end point 49a and between the start point 48b and the end point 49b. The intermediate point 51 is the curvature of each polishing pass 47a, 47b and each polishing pass 47a, 47b.
It is created based on the deflection angle of the normal line at each point above.

For example, the CAM device 13 has each starting point 48.
The polishing paths 47a and 47b are linearly interpolated in order from a and 48b, the error between the straight lines and the polishing paths 47a and 47b does not exceed a predetermined allowable value, and the deflection angle of the normal line of each point is preset. A point that does not exceed the defined allowable value is defined as an intermediate point 51. These start points 48a, 48b and end points 49a, 49
b and the intermediate point 51 are polishing points. And
After creating the polishing point, the CAM device 13 proceeds from S6 to S7.

S7 is a program creating means, which is shown in FIG.
As shown in, the CAM device 13 creates teaching point data and a program of the polishing robot 15 for moving the polishing tool 28 along the polishing locus 52 connecting the polishing points based on the polishing points created in S6. To do. Then, the CAM device 13 transmits the created teaching point data and program to the controller 14, and ends the teaching data creation process.

The controller 14 drives and controls the first to fifth motors 31 to 35 based on the teaching point data and the program transmitted from the CAM device 13 to polish the polishing locus 52.
Along with moving the polishing tool 28, the spindle motor 36 is drive-controlled to rotate the polishing tool 28,
Polish the mold 17.

The teaching point data and each polishing point of the program are C of a plurality of designated curved surfaces 42a to 42c.
The polishing paths 47a and 47b formed on the designated curved surfaces 42a to 42c are linearly interpolated based on the AD data. Therefore, compared to the conventional method of creating the spline curved surface 74 shown in FIG.
The error from a to 42c is reduced. As a result, there is no overpolishing or no polishing left, so that the ridge line portion can be polished accurately without breaking the shape of the mold 17. Further, the teaching point data and the program are created as the polishing locus 52 of the designated curved surfaces 42a to 42c.
Therefore, as compared with the conventional method of creating a polishing locus for each of the curved surfaces 71a to 71d, the surface passing between the curved surfaces 42a to 42c is improved.

As described above, in the present embodiment,
The following effects are obtained. (1) Based on the CAD data of the mold 17 transmitted from the CAD device 12, the CAM device 13 places candidate paths 44a to 44d, 4 on designated designated curved surfaces 42a to 42c.
5a to 45d and 46a to 46d are created. Next, CA
The M device 13 uses the candidate paths 44a to 44a on the polishing start surface 42a.
Paths 44b and 44c specified from 44d and other specified curved surfaces 42b and 42c connected to the paths 44b and 44c.
Polishing paths 47a and 47b are created from the upper paths 45b, 45d, 46b and 46d. The polishing path 47a, 4
7b, polishing points are created based on the specified polishing conditions, and teaching point data and a program for the polishing robot 15 are created based on the created polishing points. As a result, compared with the conventional method of creating the spline curved surface 74, the error from the original curved surfaces 42a to 42c is reduced. As a result, there is no overpolishing or no polishing left, so that the ridge line portion can be polished accurately without breaking the shape of the mold 17.

Further, since the teaching point data and the program are created as the polishing locus 52 of a plurality of designated curved surfaces 42a to 42c, the teaching locus data and the program are different from those of the conventional method of creating the polishing locus for each curved surface 71a to 71d. The surface passing between the curved surfaces 42a to 42c can be improved.

(2) The CAM device 13 uses each designated curved surface 42.
With respect to a to 42c, the candidate paths 44a to 44d are generated and displayed based on the input conditions for generating the candidate paths. Then, the CAM apparatus 13 connects the other designated curved surfaces 42b, 4d with the designated candidate paths 44b, 44d from the displayed candidate paths 44a-44d of the polishing start surface 42a.
The candidate paths 45a to 45d and 46a to 46d of 2c are selected, and the polishing path is determined from the selected candidate paths. As a result, it is possible to determine the polishing path corresponding to the designated curved surfaces 42a to 42c, and thus it is possible to easily create the polishing locus corresponding to each designated curved surface 42a to 42c of the ridge line portion having a large curvature.

The present invention may be carried out as follows in addition to the above embodiment. (1) In the above-described embodiment, the designated curved surfaces 42a to 42a in S3 are based on the number of divisions input as a condition in S2.
Candidate paths 44a to 44d, 45a to 45d, 4 for every 2c
6a to 46d are created, the number of divisions is automatically determined based on the size and curvature of the designated designated curved surfaces 42a to 42c, and the candidate paths 44a to 44d are based on the determined number of divisions. , 45a to 45d, 46a to 46d
May be created.

(2) In the above embodiment, the polishing pass 47
Although the polishing locus 52 is created so as to polish between the end point 49a of a and the start point 48b of the polishing path 47b, a point 53 which is not on the curved surfaces 41, 42a to 42c is set as shown in FIG. 5 points from the end point 49a of the polishing pass 47a
The polishing path 52 is created so as to be the starting point 48b of the polishing path 47b via 3 and the end point 49a to the starting point 48b.
You don't have to polish the gaps.

(3) In the above embodiment, the CAD device 1
No. 2 transfers IGES format data to the CAM device 13, but STEP (Standard for the Exchang
Other types of data such as e of Product model data) may be transferred.

(4) In the above embodiment, the CAM device 1
The teaching point data and the program of the polishing robot 15 are created by 3, and the controller 14 drives and controls the polishing robot 15 based on the teaching point data and the program. After creating, polish robot 1 based on the teaching point data and program
5 may be drive-controlled.

Further, the CAM device 13 and the controller 14
May be integrally configured, and teaching point data and a program may be created based on the CAD data input from the CAD device 12, and then the polishing robot 15 may be drive-controlled based on the teaching point data and the program.

(5) In the above embodiment, the case where the curved surfaces 42a to 42c of the ridge line portion having a large curvature are designated and the teaching point data and the program for polishing the designated curved surfaces 42a to 42c are created is described. Even when a curved surface having a small curvature, a free curved surface, or the like is designated, teaching point data and a program can be similarly created, and the same effect can be obtained.

(6) In the above embodiment, the polishing locus 52 of the polishing robot 15 for polishing the die 17 is created, and the program is created based on the polishing locus 52. However, other industrial robots or A locus and a program of a machine tool such as a machining center may be created.

(7) In the above embodiment, the CAD device 1
Although the CAM device 13 and the CAM device 13 are separately configured, they may be implemented as an integrated system.
It is possible to save the trouble of transferring the CAD data of.

Although the respective embodiments of the present invention have been described above, technical ideas other than the claims which can be understood from the respective embodiments will be described below together with their effects. (A) In the teaching data creating device for an industrial robot according to any one of claims 4 to 6, the industrial robot is a polishing robot for polishing a work surface, and the polishing robot is controlled to polish the work surface. A teaching data creation device for an industrial robot that creates a trajectory and creates teaching data and a program for the polishing trajectory. According to this configuration, it is possible to easily create the teaching data and the program of the polishing trajectory according to the work surface.

[0067]

As described in detail above, according to the inventions of claims 1 to 3, there is provided a teaching data creating method for an industrial robot capable of precisely polishing a surface constituted by a plurality of continuous curved surfaces. Can be provided.

Further, according to the invention described in claims 4 to 6, it is possible to provide a teaching data creating apparatus for an industrial robot capable of precisely polishing a surface constituted by a plurality of continuous curved surfaces.

Further, according to the invention described in claim 7, it is possible to provide an industrial robot system capable of precisely polishing a surface constituted by a plurality of continuous curved surfaces.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a polishing robot system according to an embodiment.

FIG. 2 is a block diagram of a polishing robot system according to an embodiment.

FIG. 3 is a flowchart showing teaching data creation processing according to an embodiment.

FIG. 4 is an explanatory diagram showing a curved surface in a teaching data creation process.

FIG. 5 is an explanatory diagram showing a curved surface in the teaching data creation processing.

FIG. 6 is an explanatory diagram showing a curved surface in the teaching data creation processing.

FIG. 7 is an explanatory diagram showing a curved surface in the teaching data creation processing.

FIG. 8 is an explanatory diagram showing a polishing locus in the teaching data creation process.

FIG. 9 is an explanatory view showing another polishing locus.

10A and 10B are explanatory views showing a conventional teaching data creation process.

11A to 11D are explanatory diagrams showing a conventional teaching data creation process.

FIG. 12 is an explanatory diagram showing conventional curved surface data of a ridge portion.

[Explanation of symbols]

17 ... Mold as work, 13 ... Curved surface designating means, candidate path creating means, path selecting means, point creating means, program creating means, CAM device as candidate path creating condition input means and condition input means, 14 ... Controller, 15
... Polishing robot as an industrial robot, 41 ... Curved surface,
42a ... Polishing start surface as a start surface, 44a to 44d,
45a to 45d, 46a to 46d ... Candidate paths, 47a,
47b ... polishing pass as a pass, 48a, 48b ... start point as a point, 29a, 29b ... end point as a point, 51 ... intermediate point as a point

Claims (7)

[Claims] 1. A method of creating teaching data for an industrial robot, which creates teaching data and a program for work performed by an industrial robot on a workpiece, comprising: curved surface data of the workpiece based on design data of the workpiece. , Create a candidate path consisting of curves obtained by dividing each specified surface, select a work path from the created multiple paths, A teaching data creation method for an industrial robot, which creates a work point for the selected work path based on a point on the path and creates teaching data and a program of a robot trajectory based on the work point. . 2. The method for creating teaching data for an industrial robot according to claim 1, wherein the plurality of curved surfaces are curved surfaces of a ridge line portion of a work, and the candidate paths are created along the ridge line direction. Industrial robot teaching data creation method. 3. The method for creating teaching data for an industrial robot according to claim 1, wherein the first designated curved surface among the designated curved surfaces is used as a start surface and a polishing path is selected. In, select a plurality of candidate paths created on the start surface, for the selected candidate path, select a path that leads to the selected candidate path from the plurality of candidate paths created on another curved surface, A method for creating teaching data for an industrial robot, wherein a polishing path is created based on the selected candidate paths. 4. A teaching data creation device for an industrial robot that creates teaching data and a program for work performed by an industrial robot on a work, wherein curved surface data of the work is created based on design data of the work. And a curved surface designating means for designating a plurality of curved surfaces from the curved surface data, and a candidate path creating means for creating a plurality of candidate paths for dividing the curved surfaces on the designated plurality of curved surfaces, respectively. Of the candidate paths created by the candidate path creating means, a plurality of paths are selected from a plurality of candidate paths created on one curved surface, and the selection is made from among candidate paths created on another curved surface. The candidate paths that lead to the selected candidate paths, and the path selecting means for selecting the paths based on the candidate paths; and the path selecting means. Point generation means for generating a plurality of points on the generated path, and program generation means for generating teaching data and a program for the robot based on the points generated by the point generation means. A teaching data creation device for an equipped industrial robot. 5. The teaching data creating apparatus for an industrial robot according to claim 4, wherein the curved surface designating unit sets a first designated curved surface as a start surface among a plurality of designated curved surfaces, and selects the path. The means selects a plurality of paths from the candidate paths created on the start surface, selects a candidate path that is connected to the selected candidate path from among the candidate paths created on other curved surfaces, and selects those candidates. A teaching data creation device for an industrial robot that selects a path based on the path. 6. The teaching data creation device for an industrial robot according to claim 4 or 5, wherein a candidate path generation condition input means for inputting a condition for generating the candidate path, and the point generation device are provided. A condition input means for inputting a condition is provided, the candidate path generation means creates a candidate path for dividing a plurality of curved surfaces based on the respective input conditions, and the point generation means generates a plurality of points based on the input condition. A teaching data creation device for an industrial robot that is created. 7. A teaching data creation device according to any one of claims 4 to 6, and a controller for controlling an industrial robot based on teaching data and a program created by the teaching data creation device. Industrial robot system with.