Teaching data generation system for vertical multi-joint robot
A control point extraction unit ( 1 d ) is configured to extract, when a center of a joint portion (V) of a fifth rotary shaft (C 5 ) is defined as a control point (A), a position (P 1 ) of the control point (A) for a teaching point (T 1 ) and a position (P 2 ) of the control point (A) for a teaching point (T 2 ). A linear path calculation unit ( 1 e ) is configured to calculate a linear path (L) that passes through the position (P 1 ) and the position (P 2 ). An arm movement calculation unit ( 1 f ) is configured to generate teaching data (D 1 ) by calculating a movement of an arm ( 3 ) to cause the control point (A) to move along the linear path (L) from the position (P 1 ) to the position (P 2 ).
1. A teaching data generation system for a vertical multi-joint robot having a multi-joint arm that includes first to sixth rotary shafts provided in turn from a mount floor side and being able to move based on teaching data generated to move a predetermined position of a tool attached to a distal end of the arm among multiple teaching points in turn, comprising
a control point extraction unit configured to extract, when a center of a joint portion V for one of the fourth, fifth, and sixth rotary shafts of the arm is defined as a control point A and two predetermined teaching points are defined as T 1 and T 2 , a position P 1 of the control point A for the teaching point T 1 and a position P 2 of the control point A for the teaching point T 2 ;
a linear path calculation unit configured to calculate a linear path L passing through the position P 1 and the position P 2 ; and
an arm movement calculation unit configured to generate teaching data by calculating a movement of the arm to cause the position P 1 and the position P 2 to align with each other, or to cause the control point A to move along the linear path L or along a pathway proximate to the linear path L from the position P 1 to the position P 2 , when creating the teaching data to move the predetermined position of the tool from the teaching point T 1 to the teaching point T 2 .
2. The teaching data generation system for the vertical multi-joint robot according to claim 1 ,
wherein an arm base end side motor is mounted to a joint portion W of one of the first, second and third rotary shafts in the arm, the arm base end side motor configured to generate rotation motion of the joint portion W at an angular velocity ω 1 ,
an arm distal end side motor is mounted to the joint portion V of one of the fourth, fifth and sixth rotary shafts in the arm, the arm distal end side motor configured to generate rotation motion of the joint portion V at an angular velocity ω 2 that is × times the angular velocity ω 1 , and
the arm movement calculation unit is configured to calculate the movement of the arm to have an operation angle θ 1 of the joint portion W being 1/X times an operation angle θ 2 of the joint portion V when calculating the movement of the arm to cause the control point A to reach the position P 2 from the position P 1 .