| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot teaching device capable of obtaining a stable tool posture by appropriately setting the target angle, the advance angle, and the rotational angle of a tool in on-line robot teaching.SOLUTION: A robot teaching device 10 includes a storage part 16 for storing the combination of a plurality of predetermined processed part shapes and the target angle and the advance angle of a tool associated with each processed part shape, a first setting part 20 for setting the target angle and the advance angle of the tool associated with a selected processed part shape as the target angle and the advance angle of the tool for a designated processed part, and a second setting part 22 for rotating, in the state of maintaining the target angle and the advance angle of the tool for the designated processed part, the tool around its longitudinal axis, and obtains and sets the rotational angle of the tool around the longitudinal axis in which the face plate height of the robot with respect to the ground surface of a virtual space is highest.SELECTED DRAWING: Figure 1 |
