TEACHING OPERATION SUPPORTING APPARATUS FOR ROBOT MOTION, AND TEACHING OPERATION SUPPORTING METHOD

摘要

A teaching operation supporting apparatus includes a teaching jig which makes, when a mold is stationary, tentative teaching points by touching up a groove more than once while moving along the groove and which is attached to a robot, a coordinate value calculating unit for calculating coordinate values of actual robot teaching points corresponding to the respective tentative teaching points, based on the distance between a grasping position and the bottom end of the string-like workpiece, and coordinate values of the tentative teaching points, and a speed calculating unit for calculating a lowering speed of the robot for each of portions between adjacent ones of the robot teaching points, based on distances between adjacent ones of the robot teaching points, horizontal distances between adjacent ones of the tentative teaching points corresponding to the respective robot teaching points, and the constant speed of the mold.

主权项

1. In an operation for lowering a robot grasping a string-like workpiece being hanging down, to dispose the string-like workpiece in a groove formed in the top face of a mold being conveyed horizontally, by a conveyance unit, at a constant speed, a teaching operation supporting apparatus for supporting a teaching operation for the motion of the robot, comprising:
a teaching jig for making a plurality of tentative teaching points by touching up the groove more than once while moving along the groove, when the mold is stationary, the teaching jig being attached to the robot; a coordinate value calculating unit for calculating coordinate values of a plurality of actual robot teaching points corresponding to the respective tentative teaching points, based on the distance between a grasping position at which the robot grasps the string-like workpiece being hanging down and the bottom end of the string-like workpiece, and coordinate values of the tentative teaching points; and a speed calculating unit for calculating a lowering speed of the robot for each of portions between adjacent ones of the robot teaching points, based on distances between adjacent ones of the robot teaching points, horizontal distances between adjacent ones of the tentative teaching points corresponding to the respective robot teaching points, and the constant speed of the mold.